{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:ILVVLC22OILCJUMKXVYF45KLFL","short_pith_number":"pith:ILVVLC22","canonical_record":{"source":{"id":"1808.01639","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-05T16:02:20Z","cross_cats_sorted":[],"title_canon_sha256":"463f5e76740c24022ae83f1f14cbe6f3b79b9773ca69301d228e7bd5270f0dbe","abstract_canon_sha256":"fa940698d0286feff1b8f7219ee0e2848480fae111dcd2bac1d9bf77f40d1e83"},"schema_version":"1.0"},"canonical_sha256":"42eb558b5a721624d18abd705e754b2ad6fd4876b35c2978f38d4ef4c7b216d5","source":{"kind":"arxiv","id":"1808.01639","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.01639","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"arxiv_version","alias_value":"1808.01639v2","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.01639","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"pith_short_12","alias_value":"ILVVLC22OILC","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"ILVVLC22OILCJUMK","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"ILVVLC22","created_at":"2026-05-18T12:32:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:ILVVLC22OILCJUMKXVYF45KLFL","target":"record","payload":{"canonical_record":{"source":{"id":"1808.01639","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-05T16:02:20Z","cross_cats_sorted":[],"title_canon_sha256":"463f5e76740c24022ae83f1f14cbe6f3b79b9773ca69301d228e7bd5270f0dbe","abstract_canon_sha256":"fa940698d0286feff1b8f7219ee0e2848480fae111dcd2bac1d9bf77f40d1e83"},"schema_version":"1.0"},"canonical_sha256":"42eb558b5a721624d18abd705e754b2ad6fd4876b35c2978f38d4ef4c7b216d5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:50:49.046142Z","signature_b64":"UvhgOXa+c3Te84bJFqgRLqGfYYclDeAD3Pomw/OWli9BtY0MFTTpFmpiU/SCD4EKCwZoZ9W82CmLSD8fuWOOAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"42eb558b5a721624d18abd705e754b2ad6fd4876b35c2978f38d4ef4c7b216d5","last_reissued_at":"2026-05-17T23:50:49.045514Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:50:49.045514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1808.01639","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:50:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PdI9d1kE8zhHPwnK+QU3yRSv2h9mtdjKEYAioTiO8NurADJhA7Ra8TbUetDTjeUgeoQud1QhsS7XeKTPguWxAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T07:20:31.208600Z"},"content_sha256":"ea6bc165441672f1b819bf9f8fd00d53a171a848ae648d807d3eb90d8230683d","schema_version":"1.0","event_id":"sha256:ea6bc165441672f1b819bf9f8fd00d53a171a848ae648d807d3eb90d8230683d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:ILVVLC22OILCJUMKXVYF45KLFL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Momentum-Based Topology Estimation of Articulated Objects","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniele Pucci, Francesco Nori, Silvio Traversaro, Yeshasvi Tirupachuri","submitted_at":"2018-08-05T16:02:20Z","abstract_excerpt":"Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the object topology. We present a general algorithm to estimate the inherent articulation models by exploiting the momentum of the articulated system along with the interaction wrench while manipulating the object. We validate our approach with experime"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.01639","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-17T23:50:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VMB3Xlrirr+Ha8Qmcg7Sw10aic5/P7t5V4d77CNPc0OxBT+jdwL4ChzECDiQgQthyZ+ujWe0DNmdWyiNxmjlBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T07:20:31.208937Z"},"content_sha256":"fd8643d657eee5c9d1846abb468d3a6cbbf18f25c7ae323008b041e87de7fc63","schema_version":"1.0","event_id":"sha256:fd8643d657eee5c9d1846abb468d3a6cbbf18f25c7ae323008b041e87de7fc63"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ILVVLC22OILCJUMKXVYF45KLFL/bundle.json","state_url":"https://pith.science/pith/ILVVLC22OILCJUMKXVYF45KLFL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ILVVLC22OILCJUMKXVYF45KLFL/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":"2026-06-28T07:20:31Z","links":{"resolver":"https://pith.science/pith/ILVVLC22OILCJUMKXVYF45KLFL","bundle":"https://pith.science/pith/ILVVLC22OILCJUMKXVYF45KLFL/bundle.json","state":"https://pith.science/pith/ILVVLC22OILCJUMKXVYF45KLFL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ILVVLC22OILCJUMKXVYF45KLFL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:ILVVLC22OILCJUMKXVYF45KLFL","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":"fa940698d0286feff1b8f7219ee0e2848480fae111dcd2bac1d9bf77f40d1e83","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-05T16:02:20Z","title_canon_sha256":"463f5e76740c24022ae83f1f14cbe6f3b79b9773ca69301d228e7bd5270f0dbe"},"schema_version":"1.0","source":{"id":"1808.01639","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.01639","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"arxiv_version","alias_value":"1808.01639v2","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.01639","created_at":"2026-05-17T23:50:49Z"},{"alias_kind":"pith_short_12","alias_value":"ILVVLC22OILC","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"ILVVLC22OILCJUMK","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"ILVVLC22","created_at":"2026-05-18T12:32:31Z"}],"graph_snapshots":[{"event_id":"sha256:fd8643d657eee5c9d1846abb468d3a6cbbf18f25c7ae323008b041e87de7fc63","target":"graph","created_at":"2026-05-17T23:50:49Z","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"},"paper":{"abstract_excerpt":"Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the object topology. We present a general algorithm to estimate the inherent articulation models by exploiting the momentum of the articulated system along with the interaction wrench while manipulating the object. We validate our approach with experime","authors_text":"Daniele Pucci, Francesco Nori, Silvio Traversaro, Yeshasvi Tirupachuri","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-05T16:02:20Z","title":"Momentum-Based Topology Estimation of Articulated Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.01639","kind":"arxiv","version":2},"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:ea6bc165441672f1b819bf9f8fd00d53a171a848ae648d807d3eb90d8230683d","target":"record","created_at":"2026-05-17T23:50:49Z","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":"fa940698d0286feff1b8f7219ee0e2848480fae111dcd2bac1d9bf77f40d1e83","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-05T16:02:20Z","title_canon_sha256":"463f5e76740c24022ae83f1f14cbe6f3b79b9773ca69301d228e7bd5270f0dbe"},"schema_version":"1.0","source":{"id":"1808.01639","kind":"arxiv","version":2}},"canonical_sha256":"42eb558b5a721624d18abd705e754b2ad6fd4876b35c2978f38d4ef4c7b216d5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42eb558b5a721624d18abd705e754b2ad6fd4876b35c2978f38d4ef4c7b216d5","first_computed_at":"2026-05-17T23:50:49.045514Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:50:49.045514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UvhgOXa+c3Te84bJFqgRLqGfYYclDeAD3Pomw/OWli9BtY0MFTTpFmpiU/SCD4EKCwZoZ9W82CmLSD8fuWOOAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:50:49.046142Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.01639","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea6bc165441672f1b819bf9f8fd00d53a171a848ae648d807d3eb90d8230683d","sha256:fd8643d657eee5c9d1846abb468d3a6cbbf18f25c7ae323008b041e87de7fc63"],"state_sha256":"72070d948603ec74874239b7fa4e76650d1c672a311e4a726a570ddbe12bbdfe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RHmQkoXuDl5A7Zv8kvAjb59lOHnDns6uobg0LTJIUNIVFHnmeqvHHoiWEgJ1wyiUZPHFy0Efng43vXD+9wibAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T07:20:31.210759Z","bundle_sha256":"c4ace3aa84db6ad2951a0ff51841497fea6618e00b78c28629e054b12bbe3f0f"}}