{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:ZKVGMVXSUYME3LHL25E2REP3QP","short_pith_number":"pith:ZKVGMVXS","canonical_record":{"source":{"id":"1609.05253","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2016-09-16T23:36:02Z","cross_cats_sorted":[],"title_canon_sha256":"ddbc1ff838f7bd75f30c4e73510b7acfcbc9ebd7e841a2b497511316e8977155","abstract_canon_sha256":"8d14446d37dd1cf7cc6545da703b464a6861afda01ffca1b6bb6ad5f74fce11e"},"schema_version":"1.0"},"canonical_sha256":"caaa6656f2a6184dacebd749a891fb83f7d8847f83cfb1545ce005b911c0e9a8","source":{"kind":"arxiv","id":"1609.05253","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1609.05253","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1609.05253v2","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.05253","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZKVGMVXSUYME","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZKVGMVXSUYME3LHL","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZKVGMVXS","created_at":"2026-05-18T12:30:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:ZKVGMVXSUYME3LHL25E2REP3QP","target":"record","payload":{"canonical_record":{"source":{"id":"1609.05253","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2016-09-16T23:36:02Z","cross_cats_sorted":[],"title_canon_sha256":"ddbc1ff838f7bd75f30c4e73510b7acfcbc9ebd7e841a2b497511316e8977155","abstract_canon_sha256":"8d14446d37dd1cf7cc6545da703b464a6861afda01ffca1b6bb6ad5f74fce11e"},"schema_version":"1.0"},"canonical_sha256":"caaa6656f2a6184dacebd749a891fb83f7d8847f83cfb1545ce005b911c0e9a8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:41:53.484707Z","signature_b64":"8Cp3zkJeIC5V/D7L4V515BNr8n4nfCCnnYBqrvXpJPQV5iXIV1FPCTcUgz103XRvMvDxQdim1E9t+lD4YZtMBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"caaa6656f2a6184dacebd749a891fb83f7d8847f83cfb1545ce005b911c0e9a8","last_reissued_at":"2026-05-18T00:41:53.483967Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:41:53.483967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1609.05253","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nWXPq1qwIekcpPv8/CA2MjxaeGf442mxcRSAWN1vICr/j8cdS++XWACyzAhq8sjSJkwkBEtDT60sQtC1n5kfBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T19:20:43.598376Z"},"content_sha256":"0a2825c8eaf6c7eeb032227596ec177fdab7514368b6f00c4be772289d1efe51","schema_version":"1.0","event_id":"sha256:0a2825c8eaf6c7eeb032227596ec177fdab7514368b6f00c4be772289d1efe51"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:ZKVGMVXSUYME3LHL25E2REP3QP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Open World Assistive Grasping Using Laser Selection","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abraham M. Shultz, Andreas ten Pas, Holly Yanco, James Kuczynski, Marcus Gualtieri, Robert Platt","submitted_at":"2016-09-16T23:36:02Z","abstract_excerpt":"Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is comprised of a robot arm from a Rethink Robotics Baxter robot mounted to an assistive mobility device, a control system for that arm, and a user interface with a variety of access methods for selecting desired objects. The system uses grasp detection to allow previously unseen objects to be picked up by the system. The grasp detection algorithms also allow for objec"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.05253","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lxFebAbCpfyV42j77UyPXORxcktIIeI+WJ0JUEHY6dHpXjhHLsF8TwErxVqQWB/qNki8Nn4wbqtovzSYjb0CBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T19:20:43.598736Z"},"content_sha256":"6792a796a43cdfdaca65d6208f2876a42629190f1e32ffdb680c9ca3bb329f66","schema_version":"1.0","event_id":"sha256:6792a796a43cdfdaca65d6208f2876a42629190f1e32ffdb680c9ca3bb329f66"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZKVGMVXSUYME3LHL25E2REP3QP/bundle.json","state_url":"https://pith.science/pith/ZKVGMVXSUYME3LHL25E2REP3QP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZKVGMVXSUYME3LHL25E2REP3QP/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":"2026-05-28T19:20:43Z","links":{"resolver":"https://pith.science/pith/ZKVGMVXSUYME3LHL25E2REP3QP","bundle":"https://pith.science/pith/ZKVGMVXSUYME3LHL25E2REP3QP/bundle.json","state":"https://pith.science/pith/ZKVGMVXSUYME3LHL25E2REP3QP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZKVGMVXSUYME3LHL25E2REP3QP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:ZKVGMVXSUYME3LHL25E2REP3QP","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":"8d14446d37dd1cf7cc6545da703b464a6861afda01ffca1b6bb6ad5f74fce11e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2016-09-16T23:36:02Z","title_canon_sha256":"ddbc1ff838f7bd75f30c4e73510b7acfcbc9ebd7e841a2b497511316e8977155"},"schema_version":"1.0","source":{"id":"1609.05253","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1609.05253","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1609.05253v2","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.05253","created_at":"2026-05-18T00:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZKVGMVXSUYME","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZKVGMVXSUYME3LHL","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZKVGMVXS","created_at":"2026-05-18T12:30:53Z"}],"graph_snapshots":[{"event_id":"sha256:6792a796a43cdfdaca65d6208f2876a42629190f1e32ffdb680c9ca3bb329f66","target":"graph","created_at":"2026-05-18T00:41:53Z","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"},"paper":{"abstract_excerpt":"Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is comprised of a robot arm from a Rethink Robotics Baxter robot mounted to an assistive mobility device, a control system for that arm, and a user interface with a variety of access methods for selecting desired objects. The system uses grasp detection to allow previously unseen objects to be picked up by the system. The grasp detection algorithms also allow for objec","authors_text":"Abraham M. Shultz, Andreas ten Pas, Holly Yanco, James Kuczynski, Marcus Gualtieri, Robert Platt","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2016-09-16T23:36:02Z","title":"Open World Assistive Grasping Using Laser Selection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.05253","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":"sha256:0a2825c8eaf6c7eeb032227596ec177fdab7514368b6f00c4be772289d1efe51","target":"record","created_at":"2026-05-18T00:41:53Z","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":"8d14446d37dd1cf7cc6545da703b464a6861afda01ffca1b6bb6ad5f74fce11e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2016-09-16T23:36:02Z","title_canon_sha256":"ddbc1ff838f7bd75f30c4e73510b7acfcbc9ebd7e841a2b497511316e8977155"},"schema_version":"1.0","source":{"id":"1609.05253","kind":"arxiv","version":2}},"canonical_sha256":"caaa6656f2a6184dacebd749a891fb83f7d8847f83cfb1545ce005b911c0e9a8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"caaa6656f2a6184dacebd749a891fb83f7d8847f83cfb1545ce005b911c0e9a8","first_computed_at":"2026-05-18T00:41:53.483967Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:41:53.483967Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8Cp3zkJeIC5V/D7L4V515BNr8n4nfCCnnYBqrvXpJPQV5iXIV1FPCTcUgz103XRvMvDxQdim1E9t+lD4YZtMBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:41:53.484707Z","signed_message":"canonical_sha256_bytes"},"source_id":"1609.05253","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0a2825c8eaf6c7eeb032227596ec177fdab7514368b6f00c4be772289d1efe51","sha256:6792a796a43cdfdaca65d6208f2876a42629190f1e32ffdb680c9ca3bb329f66"],"state_sha256":"bbec714e1a9e94f2d2f344dc6f8230a6b1c48a0a6d38ed494380adad47745504"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s1eeeQoSO7aq3BVhvnErQhtbAErVmcpf3mCOXiQC+y/3rG5+TXlZfOU7gLScqOQVDTpreMS5CBYCDbvI2sL8Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T19:20:43.600951Z","bundle_sha256":"75e5dfc0a4cc24b32a70f1f8b33374b8e43039e9ab3705d8843d4242b2b01cb1"}}