{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ZUZRM53W7QVP7JUAH767VSHYAM","short_pith_number":"pith:ZUZRM53W","canonical_record":{"source":{"id":"2606.23593","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T17:01:45Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"7d76050eaf7873b2062ad269c6b9b5c8cac83476f69f8bb9bc89fd92a6a0b215","abstract_canon_sha256":"8c0502c09da0c19c9b8f19c098328b26e47f673dab078debc15e9238ec0a69cd"},"schema_version":"1.0"},"canonical_sha256":"cd33167776fc2affa6803ffdfac8f8030a4ab9ccfdffc4a35eca18a9bfabf604","source":{"kind":"arxiv","id":"2606.23593","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23593","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23593v1","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23593","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_12","alias_value":"ZUZRM53W7QVP","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_16","alias_value":"ZUZRM53W7QVP7JUA","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_8","alias_value":"ZUZRM53W","created_at":"2026-06-23T03:14:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ZUZRM53W7QVP7JUAH767VSHYAM","target":"record","payload":{"canonical_record":{"source":{"id":"2606.23593","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T17:01:45Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"7d76050eaf7873b2062ad269c6b9b5c8cac83476f69f8bb9bc89fd92a6a0b215","abstract_canon_sha256":"8c0502c09da0c19c9b8f19c098328b26e47f673dab078debc15e9238ec0a69cd"},"schema_version":"1.0"},"canonical_sha256":"cd33167776fc2affa6803ffdfac8f8030a4ab9ccfdffc4a35eca18a9bfabf604","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T03:14:31.806582Z","signature_b64":"833N9M6XckNg2fg5041B+DGGn36fAXKrMpZJXEmh949bXmAXf9bKHk/Kzs0ZNZEhptd8psezNP1jNCTrjT7OBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cd33167776fc2affa6803ffdfac8f8030a4ab9ccfdffc4a35eca18a9bfabf604","last_reissued_at":"2026-06-23T03:14:31.806198Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T03:14:31.806198Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.23593","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":"2026-06-23T03:14:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8I4oA41R+hL+l0/O+iMD9e01DOpJ5rQ3ah5EbYcPz1JJI6grMQ+3CCuAwrMBM6z2Xo4iS2qNmMmdPehJlIiIAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:31.354808Z"},"content_sha256":"bb91e751964bcd3fb753d9ebe07c1db70f7e525f582eabe8e252c52cd049034f","schema_version":"1.0","event_id":"sha256:bb91e751964bcd3fb753d9ebe07c1db70f7e525f582eabe8e252c52cd049034f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ZUZRM53W7QVP7JUAH767VSHYAM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Multimodal Activity-Aware Error Detection in Robot-Assisted Surgery","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Homa Alemzadeh, Seyed Hamid Reza Roodabeh, Zongyu Li","submitted_at":"2026-06-22T17:01:45Z","abstract_excerpt":"Robot-assisted minimally invasive surgery improves surgical precision but introduces complexity, making technical error detection essential for ensuring patient safety. Current executional error detection methods using video data often overlook fine-grained contextual descriptions of activities and error types within the hierarchical structure of surgical procedures. They also under-utilize complementary multimodal information. We propose a unified framework for executional error detection that leverages multimodal input, including video, kinematics, and descriptive textual prompts. Through ac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23593","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/2606.23593/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":"2026-06-23T03:14:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mQqHJ+A0Xy9Xow+dhjJE9rBnMXZbDSlUKuY4IWED9IrFRhvTtZ0by3SIsci8noUHlyBLGwfVzQ2A+KNzjBnyAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:31.355170Z"},"content_sha256":"572b6fca9b154b19933095c740be9e43f1d1bd00c9722a35cd906be19ded821c","schema_version":"1.0","event_id":"sha256:572b6fca9b154b19933095c740be9e43f1d1bd00c9722a35cd906be19ded821c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZUZRM53W7QVP7JUAH767VSHYAM/bundle.json","state_url":"https://pith.science/pith/ZUZRM53W7QVP7JUAH767VSHYAM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZUZRM53W7QVP7JUAH767VSHYAM/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":"2026-07-06T20:57:31Z","links":{"resolver":"https://pith.science/pith/ZUZRM53W7QVP7JUAH767VSHYAM","bundle":"https://pith.science/pith/ZUZRM53W7QVP7JUAH767VSHYAM/bundle.json","state":"https://pith.science/pith/ZUZRM53W7QVP7JUAH767VSHYAM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZUZRM53W7QVP7JUAH767VSHYAM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZUZRM53W7QVP7JUAH767VSHYAM","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":"8c0502c09da0c19c9b8f19c098328b26e47f673dab078debc15e9238ec0a69cd","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T17:01:45Z","title_canon_sha256":"7d76050eaf7873b2062ad269c6b9b5c8cac83476f69f8bb9bc89fd92a6a0b215"},"schema_version":"1.0","source":{"id":"2606.23593","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23593","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23593v1","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23593","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_12","alias_value":"ZUZRM53W7QVP","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_16","alias_value":"ZUZRM53W7QVP7JUA","created_at":"2026-06-23T03:14:31Z"},{"alias_kind":"pith_short_8","alias_value":"ZUZRM53W","created_at":"2026-06-23T03:14:31Z"}],"graph_snapshots":[{"event_id":"sha256:572b6fca9b154b19933095c740be9e43f1d1bd00c9722a35cd906be19ded821c","target":"graph","created_at":"2026-06-23T03:14:31Z","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/2606.23593/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot-assisted minimally invasive surgery improves surgical precision but introduces complexity, making technical error detection essential for ensuring patient safety. Current executional error detection methods using video data often overlook fine-grained contextual descriptions of activities and error types within the hierarchical structure of surgical procedures. They also under-utilize complementary multimodal information. We propose a unified framework for executional error detection that leverages multimodal input, including video, kinematics, and descriptive textual prompts. Through ac","authors_text":"Homa Alemzadeh, Seyed Hamid Reza Roodabeh, Zongyu Li","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T17:01:45Z","title":"Real-Time Multimodal Activity-Aware Error Detection in Robot-Assisted Surgery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23593","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:bb91e751964bcd3fb753d9ebe07c1db70f7e525f582eabe8e252c52cd049034f","target":"record","created_at":"2026-06-23T03:14:31Z","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":"8c0502c09da0c19c9b8f19c098328b26e47f673dab078debc15e9238ec0a69cd","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T17:01:45Z","title_canon_sha256":"7d76050eaf7873b2062ad269c6b9b5c8cac83476f69f8bb9bc89fd92a6a0b215"},"schema_version":"1.0","source":{"id":"2606.23593","kind":"arxiv","version":1}},"canonical_sha256":"cd33167776fc2affa6803ffdfac8f8030a4ab9ccfdffc4a35eca18a9bfabf604","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cd33167776fc2affa6803ffdfac8f8030a4ab9ccfdffc4a35eca18a9bfabf604","first_computed_at":"2026-06-23T03:14:31.806198Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T03:14:31.806198Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"833N9M6XckNg2fg5041B+DGGn36fAXKrMpZJXEmh949bXmAXf9bKHk/Kzs0ZNZEhptd8psezNP1jNCTrjT7OBQ==","signature_status":"signed_v1","signed_at":"2026-06-23T03:14:31.806582Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.23593","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bb91e751964bcd3fb753d9ebe07c1db70f7e525f582eabe8e252c52cd049034f","sha256:572b6fca9b154b19933095c740be9e43f1d1bd00c9722a35cd906be19ded821c"],"state_sha256":"17c3e984a7dba6cc1cc9518cc54ed489fb146eaac497941c6899544c73059b21"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i1JqxI0u2krqTFhFksKJ3GWMXNWZ14oe3FYhMALqvVN2zht80W9e4E/WxDTsaV9DmaZvaOQRNAYQzoOOqOU6Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T20:57:31.357243Z","bundle_sha256":"c7967f4342a5b9491a72081263b47afa647c00966ff0ec90802120d0516e5838"}}