{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZVMVCNIH7NYUSCRM7LX44WKYJD","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":"5f09cc61a3a8aad0a9878b13ede68f7945e86e7bf0d08ef0bc8f7bbc9d2a394a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-08T16:01:23Z","title_canon_sha256":"8c94d49ef1b21929ae1ca50d227fd96be546943a3c544136693d6e6ff0d4be3a"},"schema_version":"1.0","source":{"id":"2607.07574","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.07574","created_at":"2026-07-09T01:20:29Z"},{"alias_kind":"arxiv_version","alias_value":"2607.07574v1","created_at":"2026-07-09T01:20:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.07574","created_at":"2026-07-09T01:20:29Z"},{"alias_kind":"pith_short_12","alias_value":"ZVMVCNIH7NYU","created_at":"2026-07-09T01:20:29Z"},{"alias_kind":"pith_short_16","alias_value":"ZVMVCNIH7NYUSCRM","created_at":"2026-07-09T01:20:29Z"},{"alias_kind":"pith_short_8","alias_value":"ZVMVCNIH","created_at":"2026-07-09T01:20:29Z"}],"graph_snapshots":[{"event_id":"sha256:015109f492c35f060486cefe6dd7ec71f9fae12e22f0dadd1325be76b14a5005","target":"graph","created_at":"2026-07-09T01:20:29Z","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/2607.07574/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic surface swabbing requires sustained interaction between a compliant tool and heterogeneous environments, where accurate estimation of tip-level contact force is critical for consistent sampling performance. However, deformable tool dynamics introduce nonlinear viscoelastic hysteresis that decouples wrist-mounted force measurements from true contact forces, while tool-integrated sensors are impractical for deployment due to sterility and disposability constraints. This paper presents a data-driven framework for contact force estimation in Deformable Tool Manipulation (DTM) that leverage","authors_text":"Chaitainya Kuppar Reddy, Dongyi Wang, Siavash Mahmoudi, Yang Tian","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-08T16:01:23Z","title":"Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.07574","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":"sha256:0069d42220803ae620cec47ce58ee8958095acde9e02f4b3cf56dcec70f9ddfb","target":"record","created_at":"2026-07-09T01:20:29Z","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":"5f09cc61a3a8aad0a9878b13ede68f7945e86e7bf0d08ef0bc8f7bbc9d2a394a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-08T16:01:23Z","title_canon_sha256":"8c94d49ef1b21929ae1ca50d227fd96be546943a3c544136693d6e6ff0d4be3a"},"schema_version":"1.0","source":{"id":"2607.07574","kind":"arxiv","version":1}},"canonical_sha256":"cd59513507fb71490a2cfaefce595848d414258312cf62e622f49ccd1282a411","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cd59513507fb71490a2cfaefce595848d414258312cf62e622f49ccd1282a411","first_computed_at":"2026-07-09T01:20:29.979908Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-09T01:20:29.979908Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k8k7jtWYieVtJUstOkoKZoi+gVIO92olMosV1Zdd52QGxQjkjjWWXpCWPaW9EUHMnEh1pLZ8TaL0DElJUDCIAQ==","signature_status":"signed_v1","signed_at":"2026-07-09T01:20:29.980327Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.07574","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0069d42220803ae620cec47ce58ee8958095acde9e02f4b3cf56dcec70f9ddfb","sha256:015109f492c35f060486cefe6dd7ec71f9fae12e22f0dadd1325be76b14a5005"],"state_sha256":"92d19a54950b7f4dd742a72c52f49fd089414363048a83fa974349648442b60b"}