{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:JYUS4ZRXEVXHUD7QK5LEJQRTOQ","short_pith_number":"pith:JYUS4ZRX","canonical_record":{"source":{"id":"2110.03555","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T15:22:33Z","cross_cats_sorted":[],"title_canon_sha256":"a11fc29d5c6c77eb7b6ed0c6134e75a34352c6467ed18b045655a87525631d96","abstract_canon_sha256":"44654fedc7eef7627c1bcc4175d2cd44ce3ad1a749c256882f18aff03cf2db77"},"schema_version":"1.0"},"canonical_sha256":"4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082","source":{"kind":"arxiv","id":"2110.03555","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.03555","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"arxiv_version","alias_value":"2110.03555v2","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.03555","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_12","alias_value":"JYUS4ZRXEVXH","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_16","alias_value":"JYUS4ZRXEVXHUD7Q","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_8","alias_value":"JYUS4ZRX","created_at":"2026-07-05T04:08:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:JYUS4ZRXEVXHUD7QK5LEJQRTOQ","target":"record","payload":{"canonical_record":{"source":{"id":"2110.03555","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T15:22:33Z","cross_cats_sorted":[],"title_canon_sha256":"a11fc29d5c6c77eb7b6ed0c6134e75a34352c6467ed18b045655a87525631d96","abstract_canon_sha256":"44654fedc7eef7627c1bcc4175d2cd44ce3ad1a749c256882f18aff03cf2db77"},"schema_version":"1.0"},"canonical_sha256":"4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:08:58.956037Z","signature_b64":"lvtsu7K3LqKFaoPbwQZjWCVRZpyIrTEuf2CFFl515MoEpBNZYzQhJ77/1QzVB+TKjwTnERlMP83eMrV2M8K4Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082","last_reissued_at":"2026-07-05T04:08:58.955603Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:08:58.955603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.03555","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":"2026-07-05T04:08:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0FlEbUdY1uriCI5VMDq5H16foV0stJX700P4MuPu8R4Y6rld9y89fBKsQBP3KFR9Rw7kVILK+LIdm64EYtygAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T23:24:40.914344Z"},"content_sha256":"be77379d8ddc62135db4ca949834333e2dc8b0ae8ceda1a7b644f21b7ebef5bf","schema_version":"1.0","event_id":"sha256:be77379d8ddc62135db4ca949834333e2dc8b0ae8ceda1a7b644f21b7ebef5bf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:JYUS4ZRXEVXHUD7QK5LEJQRTOQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Sangwoon Kim","submitted_at":"2021-10-07T15:22:33Z","abstract_excerpt":"We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work collaboratively to estimate the external contacts accurately. The controller helps the estimation model get a better estimate by regulating a consistent contact mode. The better estimation makes it easier for the controller to regulate the contact. We then train an object-agnostic insertion policy that learns to use the series of contact estimates to guide the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.03555","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.03555/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":"2026-07-05T04:08:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6n70AikxBnjCJ6EFxuM2wIeRNsGibyLZ4FZT9J/xV95OkKi7nYCOIM8SeMY4USI/YMd74Q5P59a3o77S7HMMBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T23:24:40.914861Z"},"content_sha256":"7c7733f91ae3245d1cb506577358ce86bdf3b9d0a1c6c5c3c69cf79f45f33109","schema_version":"1.0","event_id":"sha256:7c7733f91ae3245d1cb506577358ce86bdf3b9d0a1c6c5c3c69cf79f45f33109"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/bundle.json","state_url":"https://pith.science/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/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":"2026-08-18T23:24:40Z","links":{"resolver":"https://pith.science/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ","bundle":"https://pith.science/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/bundle.json","state":"https://pith.science/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JYUS4ZRXEVXHUD7QK5LEJQRTOQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:JYUS4ZRXEVXHUD7QK5LEJQRTOQ","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":"44654fedc7eef7627c1bcc4175d2cd44ce3ad1a749c256882f18aff03cf2db77","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T15:22:33Z","title_canon_sha256":"a11fc29d5c6c77eb7b6ed0c6134e75a34352c6467ed18b045655a87525631d96"},"schema_version":"1.0","source":{"id":"2110.03555","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.03555","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"arxiv_version","alias_value":"2110.03555v2","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.03555","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_12","alias_value":"JYUS4ZRXEVXH","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_16","alias_value":"JYUS4ZRXEVXHUD7Q","created_at":"2026-07-05T04:08:58Z"},{"alias_kind":"pith_short_8","alias_value":"JYUS4ZRX","created_at":"2026-07-05T04:08:58Z"}],"graph_snapshots":[{"event_id":"sha256:7c7733f91ae3245d1cb506577358ce86bdf3b9d0a1c6c5c3c69cf79f45f33109","target":"graph","created_at":"2026-07-05T04:08:58Z","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/2110.03555/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work collaboratively to estimate the external contacts accurately. The controller helps the estimation model get a better estimate by regulating a consistent contact mode. The better estimation makes it easier for the controller to regulate the contact. We then train an object-agnostic insertion policy that learns to use the series of contact estimates to guide the ","authors_text":"Alberto Rodriguez, Sangwoon Kim","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T15:22:33Z","title":"Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.03555","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:be77379d8ddc62135db4ca949834333e2dc8b0ae8ceda1a7b644f21b7ebef5bf","target":"record","created_at":"2026-07-05T04:08:58Z","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":"44654fedc7eef7627c1bcc4175d2cd44ce3ad1a749c256882f18aff03cf2db77","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-07T15:22:33Z","title_canon_sha256":"a11fc29d5c6c77eb7b6ed0c6134e75a34352c6467ed18b045655a87525631d96"},"schema_version":"1.0","source":{"id":"2110.03555","kind":"arxiv","version":2}},"canonical_sha256":"4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082","first_computed_at":"2026-07-05T04:08:58.955603Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:08:58.955603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lvtsu7K3LqKFaoPbwQZjWCVRZpyIrTEuf2CFFl515MoEpBNZYzQhJ77/1QzVB+TKjwTnERlMP83eMrV2M8K4Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:08:58.956037Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.03555","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:be77379d8ddc62135db4ca949834333e2dc8b0ae8ceda1a7b644f21b7ebef5bf","sha256:7c7733f91ae3245d1cb506577358ce86bdf3b9d0a1c6c5c3c69cf79f45f33109"],"state_sha256":"dd6a0f1e099359fce332ae0086921979e551eb497e76a90705915bbdf9f4813b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DSA/PAaPWcCL7v9tH19kaEyXprDv4noJJkoJiohdaLqM2DNUOyzY8Ad8DvzDmdfPaN7yFDbe+/FubDwJG9Q6Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T23:24:40.918858Z","bundle_sha256":"e5a0af2e9134aa495f0a56e7d36d004107fae3fbdd42a097b9ea8d161a4614ae"}}