{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:WW334G2XUYSPMLO3XFNHFEK5XS","short_pith_number":"pith:WW334G2X","canonical_record":{"source":{"id":"2111.02580","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-04T01:43:26Z","cross_cats_sorted":[],"title_canon_sha256":"7596363f83489aefddce2bd8837556ddfe06cc70192ec2d1ef47ce4faf9d975c","abstract_canon_sha256":"cfb558ab56b1bf5103dd01de7e62bc59262981d5e80583085cec63c3ba37a103"},"schema_version":"1.0"},"canonical_sha256":"b5b7be1b57a624f62ddbb95a72915dbc8fdec4adfcaea58adb1323087d8259a2","source":{"kind":"arxiv","id":"2111.02580","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.02580","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"arxiv_version","alias_value":"2111.02580v3","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.02580","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_12","alias_value":"WW334G2XUYSP","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_16","alias_value":"WW334G2XUYSPMLO3","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_8","alias_value":"WW334G2X","created_at":"2026-07-05T04:08:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:WW334G2XUYSPMLO3XFNHFEK5XS","target":"record","payload":{"canonical_record":{"source":{"id":"2111.02580","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-04T01:43:26Z","cross_cats_sorted":[],"title_canon_sha256":"7596363f83489aefddce2bd8837556ddfe06cc70192ec2d1ef47ce4faf9d975c","abstract_canon_sha256":"cfb558ab56b1bf5103dd01de7e62bc59262981d5e80583085cec63c3ba37a103"},"schema_version":"1.0"},"canonical_sha256":"b5b7be1b57a624f62ddbb95a72915dbc8fdec4adfcaea58adb1323087d8259a2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:08:40.849050Z","signature_b64":"NLBkQSw6zCD7KGIIEXGDU0JrKP9fzkn2r1ggoiOReqNYqay7KlvAa0xE2clBvxFX78Ce7d6h8R30rMkpRrtyAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5b7be1b57a624f62ddbb95a72915dbc8fdec4adfcaea58adb1323087d8259a2","last_reissued_at":"2026-07-05T04:08:40.848632Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:08:40.848632Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2111.02580","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:08:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"53ud1/s2Xp+GvOfEOHk6NL4tEsuOw8gSubqBImNe0jopGrcwG+gVQVbHbYc10pbwf1Le68wpkdaYFBd+KnTjAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:37:40.656035Z"},"content_sha256":"36b2aeef2d0f400843860423bd79306c4646842edfc40b05c834f407465aa4de","schema_version":"1.0","event_id":"sha256:36b2aeef2d0f400843860423bd79306c4646842edfc40b05c834f407465aa4de"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:WW334G2XUYSPMLO3XFNHFEK5XS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Deep Direct Visual Servoing of Tendon-Driven Continuum Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ali A. Nazari, Amir Jalali, Farrokh Janabi-Sharifi, Ibrahim Abdulhafiz, Kourosh Zareinia, Sajad Saeedi, Taha Abbasi-Hashemi","submitted_at":"2021-11-04T01:43:26Z","abstract_excerpt":"Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial pose estimation, limiting the controller's efficiency. We hypothesize that employing deep learning models and implementing direct visual servoing can effectively resolve the issue by eliminating such intermediate steps, enabling control of a continuum robot without requiring an exact system model. This paper presents the control of a single-section tendon-drive"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.02580","kind":"arxiv","version":3},"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/2111.02580/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":"2026-07-05T04:08:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6Gstyjux3QfG/3rTIPA0+jMvCw4JLc1YPbMsIYLEiz+SQg7wmf5DABHDPFzmyC/Q0Rm3cCMWv2vNrVK0C7AmDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:37:40.656417Z"},"content_sha256":"ee4eff700c7f240d11747e721f0b2f895aecbfd1889ab1e28492555961e706b6","schema_version":"1.0","event_id":"sha256:ee4eff700c7f240d11747e721f0b2f895aecbfd1889ab1e28492555961e706b6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WW334G2XUYSPMLO3XFNHFEK5XS/bundle.json","state_url":"https://pith.science/pith/WW334G2XUYSPMLO3XFNHFEK5XS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WW334G2XUYSPMLO3XFNHFEK5XS/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":"2026-07-06T18:37:40Z","links":{"resolver":"https://pith.science/pith/WW334G2XUYSPMLO3XFNHFEK5XS","bundle":"https://pith.science/pith/WW334G2XUYSPMLO3XFNHFEK5XS/bundle.json","state":"https://pith.science/pith/WW334G2XUYSPMLO3XFNHFEK5XS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WW334G2XUYSPMLO3XFNHFEK5XS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:WW334G2XUYSPMLO3XFNHFEK5XS","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":"cfb558ab56b1bf5103dd01de7e62bc59262981d5e80583085cec63c3ba37a103","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-04T01:43:26Z","title_canon_sha256":"7596363f83489aefddce2bd8837556ddfe06cc70192ec2d1ef47ce4faf9d975c"},"schema_version":"1.0","source":{"id":"2111.02580","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.02580","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"arxiv_version","alias_value":"2111.02580v3","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.02580","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_12","alias_value":"WW334G2XUYSP","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_16","alias_value":"WW334G2XUYSPMLO3","created_at":"2026-07-05T04:08:40Z"},{"alias_kind":"pith_short_8","alias_value":"WW334G2X","created_at":"2026-07-05T04:08:40Z"}],"graph_snapshots":[{"event_id":"sha256:ee4eff700c7f240d11747e721f0b2f895aecbfd1889ab1e28492555961e706b6","target":"graph","created_at":"2026-07-05T04:08:40Z","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/2111.02580/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial pose estimation, limiting the controller's efficiency. We hypothesize that employing deep learning models and implementing direct visual servoing can effectively resolve the issue by eliminating such intermediate steps, enabling control of a continuum robot without requiring an exact system model. This paper presents the control of a single-section tendon-drive","authors_text":"Ali A. Nazari, Amir Jalali, Farrokh Janabi-Sharifi, Ibrahim Abdulhafiz, Kourosh Zareinia, Sajad Saeedi, Taha Abbasi-Hashemi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-04T01:43:26Z","title":"Deep Direct Visual Servoing of Tendon-Driven Continuum Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.02580","kind":"arxiv","version":3},"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":"sha256:36b2aeef2d0f400843860423bd79306c4646842edfc40b05c834f407465aa4de","target":"record","created_at":"2026-07-05T04:08:40Z","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":"cfb558ab56b1bf5103dd01de7e62bc59262981d5e80583085cec63c3ba37a103","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-04T01:43:26Z","title_canon_sha256":"7596363f83489aefddce2bd8837556ddfe06cc70192ec2d1ef47ce4faf9d975c"},"schema_version":"1.0","source":{"id":"2111.02580","kind":"arxiv","version":3}},"canonical_sha256":"b5b7be1b57a624f62ddbb95a72915dbc8fdec4adfcaea58adb1323087d8259a2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b5b7be1b57a624f62ddbb95a72915dbc8fdec4adfcaea58adb1323087d8259a2","first_computed_at":"2026-07-05T04:08:40.848632Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:08:40.848632Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NLBkQSw6zCD7KGIIEXGDU0JrKP9fzkn2r1ggoiOReqNYqay7KlvAa0xE2clBvxFX78Ce7d6h8R30rMkpRrtyAA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:08:40.849050Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.02580","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:36b2aeef2d0f400843860423bd79306c4646842edfc40b05c834f407465aa4de","sha256:ee4eff700c7f240d11747e721f0b2f895aecbfd1889ab1e28492555961e706b6"],"state_sha256":"0848bbb553ce9df443bbbaeccef5ce09cacbd62e39c727867945c25226259bec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EwgSjbwVrKJUZoKRlO6EUtbRDuSNwZukpOA+B/wdkEmHk5uIZwhvVSWK7JZ0ESG0v7iR9J6ylpSxKFh+KcOxAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T18:37:40.658359Z","bundle_sha256":"9f5a86a4bc364ccdf6609dc8e06d2796ff5f54839dbb1f241190ac28867b8488"}}