{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:HMUMW4JK2QE33WQUIIPOJPFGF6","short_pith_number":"pith:HMUMW4JK","canonical_record":{"source":{"id":"2307.06845","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597","abstract_canon_sha256":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343"},"schema_version":"1.0"},"canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","source":{"kind":"arxiv","id":"2307.06845","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"arxiv_version","alias_value":"2307.06845v1","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_12","alias_value":"HMUMW4JK2QE3","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_16","alias_value":"HMUMW4JK2QE33WQU","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_8","alias_value":"HMUMW4JK","created_at":"2026-07-05T06:30:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:HMUMW4JK2QE33WQUIIPOJPFGF6","target":"record","payload":{"canonical_record":{"source":{"id":"2307.06845","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597","abstract_canon_sha256":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343"},"schema_version":"1.0"},"canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:30:38.411859Z","signature_b64":"GhcJUBsChyAJ0nRlxrMSIBsPlg8mWGlLSkBNibrMU8EoPtOLO3LDUeDcqJWnlok4PJIkBcO98+x+MSr/89BvDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","last_reissued_at":"2026-07-05T06:30:38.411488Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:30:38.411488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2307.06845","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":"2026-07-05T06:30:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nikNTxwIFXiLoqskT9Li4vwrbBnvjH+Av7uFRDJAoIOjCxXzQ0RgDNoJYnfq6WV44etmgzCsAEFoPZ+ng1xyAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T13:02:12.672382Z"},"content_sha256":"cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de","schema_version":"1.0","event_id":"sha256:cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:HMUMW4JK2QE33WQUIIPOJPFGF6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Danyal M Fer, Justin Kerr, Kaushik Shivakumar, Ken Goldberg, Lionel Ott, Vainavi Viswanath, Vincent Schorp, Will Panitch, Yahav Avigal","submitted_at":"2023-07-13T16:08:03Z","abstract_excerpt":"Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work we present a method for tracking surgical thread in 3D which is robust to occlusions and complex thread configurations, and apply it to autonomously perform the surgical suture \"tail-shortening\" task: pulling thread through tissue until a desired \"tail\" length remains exposed. The method utilizes a learned 2D surgical thread detection network to s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.06845","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/2307.06845/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":"2026-07-05T06:30:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2bdARLK9XLE/1BspF+3zWxkgDo34xGV2otwxw4+63n0eBe896fIpxEPY9xghKCGr79Gme/XRP7V7mXkO7GXbBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T13:02:12.672722Z"},"content_sha256":"1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31","schema_version":"1.0","event_id":"sha256:1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/bundle.json","state_url":"https://pith.science/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/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":"2026-08-14T13:02:12Z","links":{"resolver":"https://pith.science/pith/HMUMW4JK2QE33WQUIIPOJPFGF6","bundle":"https://pith.science/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/bundle.json","state":"https://pith.science/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HMUMW4JK2QE33WQUIIPOJPFGF6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:HMUMW4JK2QE33WQUIIPOJPFGF6","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":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597"},"schema_version":"1.0","source":{"id":"2307.06845","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"arxiv_version","alias_value":"2307.06845v1","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_12","alias_value":"HMUMW4JK2QE3","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_16","alias_value":"HMUMW4JK2QE33WQU","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_8","alias_value":"HMUMW4JK","created_at":"2026-07-05T06:30:38Z"}],"graph_snapshots":[{"event_id":"sha256:1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31","target":"graph","created_at":"2026-07-05T06:30:38Z","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/2307.06845/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work we present a method for tracking surgical thread in 3D which is robust to occlusions and complex thread configurations, and apply it to autonomously perform the surgical suture \"tail-shortening\" task: pulling thread through tissue until a desired \"tail\" length remains exposed. The method utilizes a learned 2D surgical thread detection network to s","authors_text":"Danyal M Fer, Justin Kerr, Kaushik Shivakumar, Ken Goldberg, Lionel Ott, Vainavi Viswanath, Vincent Schorp, Will Panitch, Yahav Avigal","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title":"Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.06845","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:cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de","target":"record","created_at":"2026-07-05T06:30:38Z","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":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597"},"schema_version":"1.0","source":{"id":"2307.06845","kind":"arxiv","version":1}},"canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","first_computed_at":"2026-07-05T06:30:38.411488Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:30:38.411488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GhcJUBsChyAJ0nRlxrMSIBsPlg8mWGlLSkBNibrMU8EoPtOLO3LDUeDcqJWnlok4PJIkBcO98+x+MSr/89BvDA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:30:38.411859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.06845","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de","sha256:1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31"],"state_sha256":"a472c3a908dd15f7f5f3db85aa081336eff51c66de8f8c0f380fdb3a77ac45c4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U0uMMFeKcO8k9zYvVk0kgrmyKlsCXCJC5pvdpqNbRbVSpy83hT8N32wPVo6dMh6kXTerCdv7OU3VPw84JkyvDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T13:02:12.675285Z","bundle_sha256":"106c0756ab4d89e4e19ba983bda273eaa32c347814d217902f4a0d29e173e6e4"}}