{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:RNJD3DRNKFN7Q3KRV3MGILQXF2","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"d19a78239567f37b862c51c5f60c138c4db6b73332751e5b427a7ffb953a3ed5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T12:10:34Z","title_canon_sha256":"b41a7e2c8891fe34d4fa150c24b42ba46bb79b203af94184ee282ed1d4cd3d09"},"schema_version":"1.0","source":{"id":"2509.17666","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.17666","created_at":"2026-05-20T00:02:55Z"},{"alias_kind":"arxiv_version","alias_value":"2509.17666v2","created_at":"2026-05-20T00:02:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.17666","created_at":"2026-05-20T00:02:55Z"},{"alias_kind":"pith_short_12","alias_value":"RNJD3DRNKFN7","created_at":"2026-05-20T00:02:55Z"},{"alias_kind":"pith_short_16","alias_value":"RNJD3DRNKFN7Q3KR","created_at":"2026-05-20T00:02:55Z"},{"alias_kind":"pith_short_8","alias_value":"RNJD3DRN","created_at":"2026-05-20T00:02:55Z"}],"graph_snapshots":[{"event_id":"sha256:8c78ff9856e79e5b096c04ddc8bddf66c64cca47edea2598b67b888f69387780","target":"graph","created_at":"2026-05-20T00:02:55Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2509.17666/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a passively compliant soft wrist that enables safe contact absorption through large deformations, without high-frequency control or force sensing. Our method structures insertion as compliance-enabled contact formations, sequential contact states that progressively constrain degrees of freedom, and integrates automated failure recovery strategies. Our key insight i","authors_text":"Cristian C. Beltran-Hernandez, Masashi Hamaya, Mimo Shirasaka, Yoshitaka Ushiku","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T12:10:34Z","title":"Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.17666","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:a4dfc2f3b97409595c74708fd3af9e6edbdc23b804b8e5c8198430ca68afc323","target":"record","created_at":"2026-05-20T00:02:55Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"d19a78239567f37b862c51c5f60c138c4db6b73332751e5b427a7ffb953a3ed5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T12:10:34Z","title_canon_sha256":"b41a7e2c8891fe34d4fa150c24b42ba46bb79b203af94184ee282ed1d4cd3d09"},"schema_version":"1.0","source":{"id":"2509.17666","kind":"arxiv","version":2}},"canonical_sha256":"8b523d8e2d515bf86d51aed8642e172eb2a7e2455be47e90a5f10c00eec92670","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8b523d8e2d515bf86d51aed8642e172eb2a7e2455be47e90a5f10c00eec92670","first_computed_at":"2026-05-20T00:02:55.331299Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:02:55.331299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k7a2Rem9+zMW8c9hcGo47ObjxAzgLrb9r1hqoO8qJD5HTKIUZ/u+X85AxZN2COrqGRFpR/3+1S3I4cEg4kYqBg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:02:55.332067Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.17666","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a4dfc2f3b97409595c74708fd3af9e6edbdc23b804b8e5c8198430ca68afc323","sha256:8c78ff9856e79e5b096c04ddc8bddf66c64cca47edea2598b67b888f69387780"],"state_sha256":"cb46cf252f3fe3132373001177e1cc075ab1aa80f3322636c66667abc39db7c9"}