{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZRQX46MZMEORMKAITILFDAWA7T","short_pith_number":"pith:ZRQX46MZ","canonical_record":{"source":{"id":"2411.09020","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-13T20:59:21Z","cross_cats_sorted":[],"title_canon_sha256":"a9a924f3e12215c9f3f77a6284b1108d204b53043216526a3225b091f8ff838b","abstract_canon_sha256":"cfab95e706fd4a3751659ca9a4c0f1fd9e572d0f9d2e2da9b22e44be51862da9"},"schema_version":"1.0"},"canonical_sha256":"cc617e7999611d1628089a165182c0fcec359664499c7bcc8d1f725cfbffeaee","source":{"kind":"arxiv","id":"2411.09020","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.09020","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"arxiv_version","alias_value":"2411.09020v1","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.09020","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_12","alias_value":"ZRQX46MZMEOR","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_16","alias_value":"ZRQX46MZMEORMKAI","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_8","alias_value":"ZRQX46MZ","created_at":"2026-07-05T09:35:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZRQX46MZMEORMKAITILFDAWA7T","target":"record","payload":{"canonical_record":{"source":{"id":"2411.09020","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-13T20:59:21Z","cross_cats_sorted":[],"title_canon_sha256":"a9a924f3e12215c9f3f77a6284b1108d204b53043216526a3225b091f8ff838b","abstract_canon_sha256":"cfab95e706fd4a3751659ca9a4c0f1fd9e572d0f9d2e2da9b22e44be51862da9"},"schema_version":"1.0"},"canonical_sha256":"cc617e7999611d1628089a165182c0fcec359664499c7bcc8d1f725cfbffeaee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:35:18.354481Z","signature_b64":"cZAWJ0P8zEywgXVLXT6KiRnUdQg33vP/QCC2gjqCI6aLC/xyFkVn6Bk98tMUnGIls1ilBdjiqhZlvrdSWnmQAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cc617e7999611d1628089a165182c0fcec359664499c7bcc8d1f725cfbffeaee","last_reissued_at":"2026-07-05T09:35:18.354085Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:35:18.354085Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.09020","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":"2026-07-05T09:35:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GNMvF2DPLewvfmDO/Ra4bFRbg1La5vAsbruGWRlF4AV5f24p34tkSnhCkaVRhZkfv7Fm/oirq/aatCI5zXU8Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T22:02:41.166693Z"},"content_sha256":"1f8a3b84d80902deff4d0ffb0d667d93822816eaae29520c7ead92669c28282d","schema_version":"1.0","event_id":"sha256:1f8a3b84d80902deff4d0ffb0d667d93822816eaae29520c7ead92669c28282d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZRQX46MZMEORMKAITILFDAWA7T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anirvan Dutta, Etienne Burdet, Mohsen Kaboli","submitted_at":"2024-11-13T20:59:21Z","abstract_excerpt":"Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments. Precise identification of these properties is essential to manipulate objects in a stable and controlled way, and is also required to anticipate the outcomes of (prehensile or non-prehensile) manipulation actions such as pushing, pulling, lifting, etc. Our study focuses on autonomously inferring the physical properties of a diverse set of various homogeneous, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.09020","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/2411.09020/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":"2026-07-05T09:35:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SFvL65J7p+701y1XfhbTnu+MteMFqu4C6G1Gz+o4on0LxWwRXEUTkH8RGQNtt7xX0UCvPruHIDHzKJGzi4R1CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T22:02:41.167063Z"},"content_sha256":"2bc8ac45857521da22acffa9323e284f346025a04191b0333299ab914b80f4b7","schema_version":"1.0","event_id":"sha256:2bc8ac45857521da22acffa9323e284f346025a04191b0333299ab914b80f4b7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZRQX46MZMEORMKAITILFDAWA7T/bundle.json","state_url":"https://pith.science/pith/ZRQX46MZMEORMKAITILFDAWA7T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZRQX46MZMEORMKAITILFDAWA7T/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":"2026-07-10T22:02:41Z","links":{"resolver":"https://pith.science/pith/ZRQX46MZMEORMKAITILFDAWA7T","bundle":"https://pith.science/pith/ZRQX46MZMEORMKAITILFDAWA7T/bundle.json","state":"https://pith.science/pith/ZRQX46MZMEORMKAITILFDAWA7T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZRQX46MZMEORMKAITILFDAWA7T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZRQX46MZMEORMKAITILFDAWA7T","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":"cfab95e706fd4a3751659ca9a4c0f1fd9e572d0f9d2e2da9b22e44be51862da9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-13T20:59:21Z","title_canon_sha256":"a9a924f3e12215c9f3f77a6284b1108d204b53043216526a3225b091f8ff838b"},"schema_version":"1.0","source":{"id":"2411.09020","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.09020","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"arxiv_version","alias_value":"2411.09020v1","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.09020","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_12","alias_value":"ZRQX46MZMEOR","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_16","alias_value":"ZRQX46MZMEORMKAI","created_at":"2026-07-05T09:35:18Z"},{"alias_kind":"pith_short_8","alias_value":"ZRQX46MZ","created_at":"2026-07-05T09:35:18Z"}],"graph_snapshots":[{"event_id":"sha256:2bc8ac45857521da22acffa9323e284f346025a04191b0333299ab914b80f4b7","target":"graph","created_at":"2026-07-05T09:35:18Z","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/2411.09020/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments. Precise identification of these properties is essential to manipulate objects in a stable and controlled way, and is also required to anticipate the outcomes of (prehensile or non-prehensile) manipulation actions such as pushing, pulling, lifting, etc. Our study focuses on autonomously inferring the physical properties of a diverse set of various homogeneous, ","authors_text":"Anirvan Dutta, Etienne Burdet, Mohsen Kaboli","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-13T20:59:21Z","title":"Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.09020","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":"sha256:1f8a3b84d80902deff4d0ffb0d667d93822816eaae29520c7ead92669c28282d","target":"record","created_at":"2026-07-05T09:35:18Z","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":"cfab95e706fd4a3751659ca9a4c0f1fd9e572d0f9d2e2da9b22e44be51862da9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-13T20:59:21Z","title_canon_sha256":"a9a924f3e12215c9f3f77a6284b1108d204b53043216526a3225b091f8ff838b"},"schema_version":"1.0","source":{"id":"2411.09020","kind":"arxiv","version":1}},"canonical_sha256":"cc617e7999611d1628089a165182c0fcec359664499c7bcc8d1f725cfbffeaee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cc617e7999611d1628089a165182c0fcec359664499c7bcc8d1f725cfbffeaee","first_computed_at":"2026-07-05T09:35:18.354085Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:35:18.354085Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cZAWJ0P8zEywgXVLXT6KiRnUdQg33vP/QCC2gjqCI6aLC/xyFkVn6Bk98tMUnGIls1ilBdjiqhZlvrdSWnmQAg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:35:18.354481Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.09020","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1f8a3b84d80902deff4d0ffb0d667d93822816eaae29520c7ead92669c28282d","sha256:2bc8ac45857521da22acffa9323e284f346025a04191b0333299ab914b80f4b7"],"state_sha256":"daab28098f02821b64189c2a82e7f3519a56c27b946472d3d4187eb687c14c5b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xJwCq59CZD9Ev0b6/IGeme8hRukgL9qU0QiaCh0IonTs1t5NnlTXhfv/Y+lFuuLdny+Kh8Zk41ft+Wf5X7TuDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-10T22:02:41.169145Z","bundle_sha256":"3cf0087c8a99137170cba5ee61861bcf93b980ffc69b360cced708ecbb2c7e62"}}