{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:DW642FIFQGKX5RXKEXNOOXB563","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":"86e49c9f0c9f54259464ea04ed77b3f0f9b2c291d9de164be1a2b88e8d24c3a3","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-03T16:16:41Z","title_canon_sha256":"8390ed51303857b03b94552e1143cf43cae5d3bebe7bd5097448fb6154551f3f"},"schema_version":"1.0","source":{"id":"2407.03245","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.03245","created_at":"2026-07-05T09:22:41Z"},{"alias_kind":"arxiv_version","alias_value":"2407.03245v3","created_at":"2026-07-05T09:22:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.03245","created_at":"2026-07-05T09:22:41Z"},{"alias_kind":"pith_short_12","alias_value":"DW642FIFQGKX","created_at":"2026-07-05T09:22:41Z"},{"alias_kind":"pith_short_16","alias_value":"DW642FIFQGKX5RXK","created_at":"2026-07-05T09:22:41Z"},{"alias_kind":"pith_short_8","alias_value":"DW642FIF","created_at":"2026-07-05T09:22:41Z"}],"graph_snapshots":[{"event_id":"sha256:ba1a661f6fc7441e26da86f6850fbf2356d981c2465e51e6cce63600770efb69","target":"graph","created_at":"2026-07-05T09:22:41Z","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/2407.03245/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot a tie. We introduce the Hierarchical Feature Matching approach to estimate a sequence of tie's meshes from the demonstration video. With these estimated meshes used as subgoals, we first learn a teacher policy using privileged information. Then, we learn a student policy with point cloud observation by imitating teacher policy. Lastly, our pipeline applies l","authors_text":"Cewu Lu, Haonan Chen, Jichen Sun, Jun Lv, Lin Shao, Siheng Zhao, Weikun Peng, Yuwei Zeng","cross_cats":["cs.AI","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-03T16:16:41Z","title":"TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.03245","kind":"arxiv","version":3},"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:aa174f0b1c2ffff80ec32db34f90d2ecc97c1369ad5686594b1fda6c38d40889","target":"record","created_at":"2026-07-05T09:22:41Z","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":"86e49c9f0c9f54259464ea04ed77b3f0f9b2c291d9de164be1a2b88e8d24c3a3","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-03T16:16:41Z","title_canon_sha256":"8390ed51303857b03b94552e1143cf43cae5d3bebe7bd5097448fb6154551f3f"},"schema_version":"1.0","source":{"id":"2407.03245","kind":"arxiv","version":3}},"canonical_sha256":"1dbdcd150581957ec6ea25dae75c3df6f32737e810bf1b49c512f76f4942373e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1dbdcd150581957ec6ea25dae75c3df6f32737e810bf1b49c512f76f4942373e","first_computed_at":"2026-07-05T09:22:41.100587Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:22:41.100587Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5qqwBgiMg5LfbETUkTCsICFE1qRzOL9KZ/+JmtKgWqpDfhtJuRf08AvrfXmfbqeYM2t/9IXaNBoq9MdMLO7wBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:22:41.101077Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.03245","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aa174f0b1c2ffff80ec32db34f90d2ecc97c1369ad5686594b1fda6c38d40889","sha256:ba1a661f6fc7441e26da86f6850fbf2356d981c2465e51e6cce63600770efb69"],"state_sha256":"d23b8c65ed14061e5d94f53ef2a623dc8a9988eff6b0dc608c6000dab260cde7"}