{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZDZKRM5N6SDEBPRCMXV6LBGKTD","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":"c3d99ab383c55fc8ca3ff0a48b05a7694a1941926b1043238061e826c7590634","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-02-11T21:36:10Z","title_canon_sha256":"dc4b3143a5f3eeb66a1f53adc39e272f3970467c39f1622ca6d701549bb8ee3f"},"schema_version":"1.0","source":{"id":"2102.06279","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.06279","created_at":"2026-07-05T02:14:46Z"},{"alias_kind":"arxiv_version","alias_value":"2102.06279v1","created_at":"2026-07-05T02:14:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.06279","created_at":"2026-07-05T02:14:46Z"},{"alias_kind":"pith_short_12","alias_value":"ZDZKRM5N6SDE","created_at":"2026-07-05T02:14:46Z"},{"alias_kind":"pith_short_16","alias_value":"ZDZKRM5N6SDEBPRC","created_at":"2026-07-05T02:14:46Z"},{"alias_kind":"pith_short_8","alias_value":"ZDZKRM5N","created_at":"2026-07-05T02:14:46Z"}],"graph_snapshots":[{"event_id":"sha256:2c325bdf9fb85a9d155c6374b326477082e99cfabf4ff38617f671ee418f7e8e","target":"graph","created_at":"2026-07-05T02:14:46Z","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/2102.06279/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of objects, despite potentially unseen object instances and significant intra-category variations in shape, size and appearance. Previous approaches typically build a feedback loop on top of a real-time 6-DOF pose estimator. However, representing an object with a parameterized transformation from a fixed geometric template does not capture large intra-category shape","authors_text":"Russ Tedrake, Wei Gao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-02-11T21:36:10Z","title":"kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.06279","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":"sha256:0db676f9fadbddf4732cf4d7ec4f3d3ad1e148877456cc5c213d30df521b7184","target":"record","created_at":"2026-07-05T02:14:46Z","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":"c3d99ab383c55fc8ca3ff0a48b05a7694a1941926b1043238061e826c7590634","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-02-11T21:36:10Z","title_canon_sha256":"dc4b3143a5f3eeb66a1f53adc39e272f3970467c39f1622ca6d701549bb8ee3f"},"schema_version":"1.0","source":{"id":"2102.06279","kind":"arxiv","version":1}},"canonical_sha256":"c8f2a8b3adf48640be2265ebe584ca98cdffaa073743c74a4b734e4ca99e4d6d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c8f2a8b3adf48640be2265ebe584ca98cdffaa073743c74a4b734e4ca99e4d6d","first_computed_at":"2026-07-05T02:14:46.452837Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:14:46.452837Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"U0ByaHqPdBFByuE96ietBNg+kPOeXQpfswC+oxGWgSRo7kF189bA/bHUIvaKIJibAlajibZyljEyGBZJTvMjBg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:14:46.453335Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.06279","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0db676f9fadbddf4732cf4d7ec4f3d3ad1e148877456cc5c213d30df521b7184","sha256:2c325bdf9fb85a9d155c6374b326477082e99cfabf4ff38617f671ee418f7e8e"],"state_sha256":"78d3f33e13ca48bc01023924239443eabcefbca13c82f9932e7ed477c1eccd13"}