{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MAH2ADHDMRDR27Z5DGWUUAFGYK","short_pith_number":"pith:MAH2ADHD","canonical_record":{"source":{"id":"2405.07423","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-13T01:42:10Z","cross_cats_sorted":[],"title_canon_sha256":"da3f7a57b89dbb6b429beac885e0bf315fa00f0be0fa71df9aca7c1655546f01","abstract_canon_sha256":"8049d92771aaf40586d39564e14e143d09f8805579dad59669d32922b392ed33"},"schema_version":"1.0"},"canonical_sha256":"600fa00ce364471d7f3d19ad4a00a6c2b9532b5681785f0436a06ec3939d3593","source":{"kind":"arxiv","id":"2405.07423","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.07423","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"arxiv_version","alias_value":"2405.07423v2","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.07423","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_12","alias_value":"MAH2ADHDMRDR","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_16","alias_value":"MAH2ADHDMRDR27Z5","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_8","alias_value":"MAH2ADHD","created_at":"2026-07-05T10:28:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MAH2ADHDMRDR27Z5DGWUUAFGYK","target":"record","payload":{"canonical_record":{"source":{"id":"2405.07423","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-13T01:42:10Z","cross_cats_sorted":[],"title_canon_sha256":"da3f7a57b89dbb6b429beac885e0bf315fa00f0be0fa71df9aca7c1655546f01","abstract_canon_sha256":"8049d92771aaf40586d39564e14e143d09f8805579dad59669d32922b392ed33"},"schema_version":"1.0"},"canonical_sha256":"600fa00ce364471d7f3d19ad4a00a6c2b9532b5681785f0436a06ec3939d3593","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:28:16.305779Z","signature_b64":"RWIM7zJQLqpsafQR9tAJG+UriwfTZI+g4xow/Zzloh6i+8QWVUxPMFQHE3w3ezDUu0r5X0EzBL7nyVtSZ79YAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"600fa00ce364471d7f3d19ad4a00a6c2b9532b5681785f0436a06ec3939d3593","last_reissued_at":"2026-07-05T10:28:16.305142Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:28:16.305142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.07423","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":"2026-07-05T10:28:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TdPaMoJrXVWLlao3MBO2taOvr3Ly8XP56ThL3voJJa5kvCicxwOh/4D4R67hQfwXvejOOezz6IIXQM3rykUNAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T16:59:29.659606Z"},"content_sha256":"c6dcb557584adc671d43f5cfa235f4da6a628e752da7dea201fc2073525e4e3c","schema_version":"1.0","event_id":"sha256:c6dcb557584adc671d43f5cfa235f4da6a628e752da7dea201fc2073525e4e3c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MAH2ADHDMRDR27Z5DGWUUAFGYK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akhil Padmanabha, Alexandra Gillespie, Karan Khokar, Kavya Puthuveetil, Wesley Lewis, Yexin Hu, Zackory Erickson","submitted_at":"2024-05-13T01:42:10Z","abstract_excerpt":"Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach at integrating capacitive sensing within robotic end effectors to enable robust sensing and precise manipulation of liquids and granular media. We introduce the parallel-jaw RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to directly sense the materials and dynamics of liquids inside of diverse containers, including some visually opaque. When coupled with model-based c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.07423","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/2405.07423/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":"2026-07-05T10:28:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"duSmyzP3eCDHxoclhdjxPS6NwdmLO3/y81iYM16RaDXB4wdqrsCSqXwvdnIQARQ4uUIWLLqLPVQum1agOu7HBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T16:59:29.660501Z"},"content_sha256":"032793756b7b8a2908962b2c1673f11e6cd30f93682fa9ad985a26ae40b536ae","schema_version":"1.0","event_id":"sha256:032793756b7b8a2908962b2c1673f11e6cd30f93682fa9ad985a26ae40b536ae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/bundle.json","state_url":"https://pith.science/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/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":"2026-08-14T16:59:29Z","links":{"resolver":"https://pith.science/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK","bundle":"https://pith.science/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/bundle.json","state":"https://pith.science/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MAH2ADHDMRDR27Z5DGWUUAFGYK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MAH2ADHDMRDR27Z5DGWUUAFGYK","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":"8049d92771aaf40586d39564e14e143d09f8805579dad59669d32922b392ed33","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-13T01:42:10Z","title_canon_sha256":"da3f7a57b89dbb6b429beac885e0bf315fa00f0be0fa71df9aca7c1655546f01"},"schema_version":"1.0","source":{"id":"2405.07423","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.07423","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"arxiv_version","alias_value":"2405.07423v2","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.07423","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_12","alias_value":"MAH2ADHDMRDR","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_16","alias_value":"MAH2ADHDMRDR27Z5","created_at":"2026-07-05T10:28:16Z"},{"alias_kind":"pith_short_8","alias_value":"MAH2ADHD","created_at":"2026-07-05T10:28:16Z"}],"graph_snapshots":[{"event_id":"sha256:032793756b7b8a2908962b2c1673f11e6cd30f93682fa9ad985a26ae40b536ae","target":"graph","created_at":"2026-07-05T10:28:16Z","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/2405.07423/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach at integrating capacitive sensing within robotic end effectors to enable robust sensing and precise manipulation of liquids and granular media. We introduce the parallel-jaw RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to directly sense the materials and dynamics of liquids inside of diverse containers, including some visually opaque. When coupled with model-based c","authors_text":"Akhil Padmanabha, Alexandra Gillespie, Karan Khokar, Kavya Puthuveetil, Wesley Lewis, Yexin Hu, Zackory Erickson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-13T01:42:10Z","title":"RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.07423","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:c6dcb557584adc671d43f5cfa235f4da6a628e752da7dea201fc2073525e4e3c","target":"record","created_at":"2026-07-05T10:28:16Z","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":"8049d92771aaf40586d39564e14e143d09f8805579dad59669d32922b392ed33","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-13T01:42:10Z","title_canon_sha256":"da3f7a57b89dbb6b429beac885e0bf315fa00f0be0fa71df9aca7c1655546f01"},"schema_version":"1.0","source":{"id":"2405.07423","kind":"arxiv","version":2}},"canonical_sha256":"600fa00ce364471d7f3d19ad4a00a6c2b9532b5681785f0436a06ec3939d3593","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"600fa00ce364471d7f3d19ad4a00a6c2b9532b5681785f0436a06ec3939d3593","first_computed_at":"2026-07-05T10:28:16.305142Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:28:16.305142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RWIM7zJQLqpsafQR9tAJG+UriwfTZI+g4xow/Zzloh6i+8QWVUxPMFQHE3w3ezDUu0r5X0EzBL7nyVtSZ79YAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:28:16.305779Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.07423","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6dcb557584adc671d43f5cfa235f4da6a628e752da7dea201fc2073525e4e3c","sha256:032793756b7b8a2908962b2c1673f11e6cd30f93682fa9ad985a26ae40b536ae"],"state_sha256":"89c0b900eb8627003ace80642a51745dfaaa71b69524417d6871061605b2b556"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k+NhDfWjwahdzClFf1cW+dNcy01XRHot8U/9Qiqny7byauWKe/Lrf1MIakX/TG1Er2l0xzf8C83O7GlRvnQwBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T16:59:29.696926Z","bundle_sha256":"7b6758563a2d41fdc9a9199f6b14513da7ec3bfd88e86a80bbeb126dcf879d93"}}