{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:U4H64QPFFHIYVFNMDKM2NZ7G5J","short_pith_number":"pith:U4H64QPF","canonical_record":{"source":{"id":"2605.24394","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-23T04:38:58Z","cross_cats_sorted":[],"title_canon_sha256":"c6c214ffbe284167724137d72c758b8c2ec69bee6fcc0cd567c4ef35a37102da","abstract_canon_sha256":"2246c400076def0d898895913129edfcf79b0553d2ca40faaf3af2fb88a9f052"},"schema_version":"1.0"},"canonical_sha256":"a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c","source":{"kind":"arxiv","id":"2605.24394","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24394","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24394v1","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24394","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_12","alias_value":"U4H64QPFFHIY","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_16","alias_value":"U4H64QPFFHIYVFNM","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_8","alias_value":"U4H64QPF","created_at":"2026-05-26T01:03:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:U4H64QPFFHIYVFNMDKM2NZ7G5J","target":"record","payload":{"canonical_record":{"source":{"id":"2605.24394","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-23T04:38:58Z","cross_cats_sorted":[],"title_canon_sha256":"c6c214ffbe284167724137d72c758b8c2ec69bee6fcc0cd567c4ef35a37102da","abstract_canon_sha256":"2246c400076def0d898895913129edfcf79b0553d2ca40faaf3af2fb88a9f052"},"schema_version":"1.0"},"canonical_sha256":"a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-26T01:03:37.060926Z","signature_b64":"9h86pKQm4Rnu6HI0P6KJoxs7KEta6DTS2HENyqzU28uxPL/jRncX8XA23hoBUalsVazxavCt9mw15xzR77jcCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c","last_reissued_at":"2026-05-26T01:03:37.060093Z","signature_status":"signed_v1","first_computed_at":"2026-05-26T01:03:37.060093Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.24394","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-26T01:03:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZX9WvNmPQKmc+Z+PKyerUpkrHfq0q1LptojJdm9039vfV0Hova/tlwW+nzrkV+cHcRRegZYeILsxpX7wpT7sBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T18:26:55.308435Z"},"content_sha256":"022383018e24a2cfe1a5485b01e3daafb4e0e9fcb44214f1c153fd9d332d38d0","schema_version":"1.0","event_id":"sha256:022383018e24a2cfe1a5485b01e3daafb4e0e9fcb44214f1c153fd9d332d38d0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:U4H64QPFFHIYVFNMDKM2NZ7G5J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyang Zhang, Fumin Zhang, Jiahui Zuo","submitted_at":"2026-05-23T04:38:58Z","abstract_excerpt":"Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with ordered keypoints and explicit edge connectivity. This reliance makes them prone to failures due to tracking drift and topology mismatch caused by repeated bending and crossings during knot formation.To address these limitations, we introduce RoboHitch, a novel framework that learns to perform hitch knot tying from human demonstrations using only disordered 3D "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24394","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.24394/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-26T01:03:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7ABp1sNP3CSJ1ldN5wV5aRLFq6RXGivlcO+8KLNMfmWfxzmosr8KePa1knf8NbftwPH5XJTVbHCXRTzTHAiJCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T18:26:55.309185Z"},"content_sha256":"21088d9d301670f0c089620c914dd0ce4e35662a8b34b3c107285dd87560ae4a","schema_version":"1.0","event_id":"sha256:21088d9d301670f0c089620c914dd0ce4e35662a8b34b3c107285dd87560ae4a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/bundle.json","state_url":"https://pith.science/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-29T18:26:55Z","links":{"resolver":"https://pith.science/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J","bundle":"https://pith.science/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/bundle.json","state":"https://pith.science/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U4H64QPFFHIYVFNMDKM2NZ7G5J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:U4H64QPFFHIYVFNMDKM2NZ7G5J","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":"2246c400076def0d898895913129edfcf79b0553d2ca40faaf3af2fb88a9f052","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-23T04:38:58Z","title_canon_sha256":"c6c214ffbe284167724137d72c758b8c2ec69bee6fcc0cd567c4ef35a37102da"},"schema_version":"1.0","source":{"id":"2605.24394","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24394","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24394v1","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24394","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_12","alias_value":"U4H64QPFFHIY","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_16","alias_value":"U4H64QPFFHIYVFNM","created_at":"2026-05-26T01:03:37Z"},{"alias_kind":"pith_short_8","alias_value":"U4H64QPF","created_at":"2026-05-26T01:03:37Z"}],"graph_snapshots":[{"event_id":"sha256:21088d9d301670f0c089620c914dd0ce4e35662a8b34b3c107285dd87560ae4a","target":"graph","created_at":"2026-05-26T01:03:37Z","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/2605.24394/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with ordered keypoints and explicit edge connectivity. This reliance makes them prone to failures due to tracking drift and topology mismatch caused by repeated bending and crossings during knot formation.To address these limitations, we introduce RoboHitch, a novel framework that learns to perform hitch knot tying from human demonstrations using only disordered 3D ","authors_text":"Boyang Zhang, Fumin Zhang, Jiahui Zuo","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-23T04:38:58Z","title":"RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24394","kind":"arxiv","version":1},"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":"sha256:022383018e24a2cfe1a5485b01e3daafb4e0e9fcb44214f1c153fd9d332d38d0","target":"record","created_at":"2026-05-26T01:03:37Z","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":"2246c400076def0d898895913129edfcf79b0553d2ca40faaf3af2fb88a9f052","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-23T04:38:58Z","title_canon_sha256":"c6c214ffbe284167724137d72c758b8c2ec69bee6fcc0cd567c4ef35a37102da"},"schema_version":"1.0","source":{"id":"2605.24394","kind":"arxiv","version":1}},"canonical_sha256":"a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c","first_computed_at":"2026-05-26T01:03:37.060093Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T01:03:37.060093Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9h86pKQm4Rnu6HI0P6KJoxs7KEta6DTS2HENyqzU28uxPL/jRncX8XA23hoBUalsVazxavCt9mw15xzR77jcCA==","signature_status":"signed_v1","signed_at":"2026-05-26T01:03:37.060926Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.24394","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:022383018e24a2cfe1a5485b01e3daafb4e0e9fcb44214f1c153fd9d332d38d0","sha256:21088d9d301670f0c089620c914dd0ce4e35662a8b34b3c107285dd87560ae4a"],"state_sha256":"84283e0acf4ca76ce86f39e4c2b7a63c911f7977bd25af2400c84189e9c4f4ba"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jOT/b4P1FE4gTQQ+UNWm6uNzheL49G78u4ptEO9FISbMbP3h+Sak6rBxsuNIQVGR7bGHTxG7KPMAAp+9VaJYDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T18:26:55.313161Z","bundle_sha256":"5283b47a9d25e390a3fb2f466f8f3dd0f6a0b9965d3f5a1a821b9ef3a72e2558"}}