{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:XN2UA6MTNTDOJMUJSKPCWO2YUD","short_pith_number":"pith:XN2UA6MT","schema_version":"1.0","canonical_sha256":"bb754079936cc6e4b289929e2b3b58a0f4dd29029eb0c1609617263aeb0f4c9a","source":{"kind":"arxiv","id":"2607.09315","version":1},"attestation_state":"computed","paper":{"title":"Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Federico Ulloa Rios, Pinhao Song, Renaud Detry, Ze Fu, Zhongxi Li","submitted_at":"2026-07-10T11:52:18Z","abstract_excerpt":"We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation tasks, which is cognitively demanding and error-prone, particularly when relying on low-bandwidth interfaces. We propose Robot Trajectron V3 (RT-V3), a probabilistic shared control framework designed for $SE(3)$ grasping tasks. RT-V3 formulates shared control as Bayesian inference by learning a prior over user intent and combining it with real-time user commands to estimate the posterior intent distribution. The prior models user intent as a distribution over future trajectories con"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.09315","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-10T11:52:18Z","cross_cats_sorted":[],"title_canon_sha256":"0bb2a4aead8d26a0079ffa2693441449d856ac798f50f938b4588c9fbb563782","abstract_canon_sha256":"02c1491cb595f1e16ee86e7d3cf765e23b4c268a413aee9f2eca44730ca6c38f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-13T01:19:00.856557Z","signature_b64":"3uGqCk6TkXmxHyz6GiVpH5gi+KTFd/m3zL0pJ/dLj836NtbEAyTBLjQIhConAmPCzDrKmI9iexdQOyM1kuPpBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bb754079936cc6e4b289929e2b3b58a0f4dd29029eb0c1609617263aeb0f4c9a","last_reissued_at":"2026-07-13T01:19:00.855321Z","signature_status":"signed_v1","first_computed_at":"2026-07-13T01:19:00.855321Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Federico Ulloa Rios, Pinhao Song, Renaud Detry, Ze Fu, Zhongxi Li","submitted_at":"2026-07-10T11:52:18Z","abstract_excerpt":"We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation tasks, which is cognitively demanding and error-prone, particularly when relying on low-bandwidth interfaces. We propose Robot Trajectron V3 (RT-V3), a probabilistic shared control framework designed for $SE(3)$ grasping tasks. RT-V3 formulates shared control as Bayesian inference by learning a prior over user intent and combining it with real-time user commands to estimate the posterior intent distribution. The prior models user intent as a distribution over future trajectories con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.09315","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/2607.09315/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.09315","created_at":"2026-07-13T01:19:00.855950+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.09315v1","created_at":"2026-07-13T01:19:00.855950+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.09315","created_at":"2026-07-13T01:19:00.855950+00:00"},{"alias_kind":"pith_short_12","alias_value":"XN2UA6MTNTDO","created_at":"2026-07-13T01:19:00.855950+00:00"},{"alias_kind":"pith_short_16","alias_value":"XN2UA6MTNTDOJMUJ","created_at":"2026-07-13T01:19:00.855950+00:00"},{"alias_kind":"pith_short_8","alias_value":"XN2UA6MT","created_at":"2026-07-13T01:19:00.855950+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD","json":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD.json","graph_json":"https://pith.science/api/pith-number/XN2UA6MTNTDOJMUJSKPCWO2YUD/graph.json","events_json":"https://pith.science/api/pith-number/XN2UA6MTNTDOJMUJSKPCWO2YUD/events.json","paper":"https://pith.science/paper/XN2UA6MT"},"agent_actions":{"view_html":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD","download_json":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD.json","view_paper":"https://pith.science/paper/XN2UA6MT","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.09315&json=true","fetch_graph":"https://pith.science/api/pith-number/XN2UA6MTNTDOJMUJSKPCWO2YUD/graph.json","fetch_events":"https://pith.science/api/pith-number/XN2UA6MTNTDOJMUJSKPCWO2YUD/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD/action/storage_attestation","attest_author":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD/action/author_attestation","sign_citation":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD/action/citation_signature","submit_replication":"https://pith.science/pith/XN2UA6MTNTDOJMUJSKPCWO2YUD/action/replication_record"}},"created_at":"2026-07-13T01:19:00.855950+00:00","updated_at":"2026-07-13T01:19:00.855950+00:00"}