{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ORVFV35Y76GBIH6QQ4K3R5RAOQ","short_pith_number":"pith:ORVFV35Y","canonical_record":{"source":{"id":"2409.08964","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T16:29:42Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"122f7059d14a1a5432b5cd63a1971a082177b436e557edf2356e33c7d3ee2c95","abstract_canon_sha256":"bed9d75933707bdcce18589f8a548384ae3adeb9c060e1e4608c00df78564531"},"schema_version":"1.0"},"canonical_sha256":"746a5aefb8ff8c141fd08715b8f620742f4f20d6d624ef6ad9aecc84be35266b","source":{"kind":"arxiv","id":"2409.08964","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.08964","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"arxiv_version","alias_value":"2409.08964v1","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.08964","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_12","alias_value":"ORVFV35Y76GB","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_16","alias_value":"ORVFV35Y76GBIH6Q","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_8","alias_value":"ORVFV35Y","created_at":"2026-07-05T09:06:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ORVFV35Y76GBIH6QQ4K3R5RAOQ","target":"record","payload":{"canonical_record":{"source":{"id":"2409.08964","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T16:29:42Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"122f7059d14a1a5432b5cd63a1971a082177b436e557edf2356e33c7d3ee2c95","abstract_canon_sha256":"bed9d75933707bdcce18589f8a548384ae3adeb9c060e1e4608c00df78564531"},"schema_version":"1.0"},"canonical_sha256":"746a5aefb8ff8c141fd08715b8f620742f4f20d6d624ef6ad9aecc84be35266b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:06:50.297310Z","signature_b64":"w8S6HRqWxPIL9edBJV8SMOj2eNAneaFBqgKmdOQJ2wkenMjznHDuYa2aQYwg4zQA4RVHP7dxLIC529pRXzz6Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"746a5aefb8ff8c141fd08715b8f620742f4f20d6d624ef6ad9aecc84be35266b","last_reissued_at":"2026-07-05T09:06:50.296901Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:06:50.296901Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.08964","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":"2026-07-05T09:06:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kBLSBmgZ1lB1GIMehCQLVSNywlJCveK5egYCshLH5oJgbFHWNhKhYX290hs+EO7FUfylcIje1Qv7s1h+bWRhAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T06:07:18.732540Z"},"content_sha256":"0cb8a57243e51a2c626feabd68b1c3d9749e29c2adfd48228e3e1c61076bc610","schema_version":"1.0","event_id":"sha256:0cb8a57243e51a2c626feabd68b1c3d9749e29c2adfd48228e3e1c61076bc610"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ORVFV35Y76GBIH6QQ4K3R5RAOQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"IMMERTWIN: A Mixed Reality Framework for Enhanced Robotic Arm Teleoperation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Florent P. Audonnet, Gerardo Aragon-Camarasa, Ixchel G. Ramirez-Alpizar","submitted_at":"2024-09-13T16:29:42Z","abstract_excerpt":"We present IMMERTWIN, a mixed reality framework for enhance robotic arm teleoperation using a closed-loop digital twin as a bridge for interaction between the user and the robotic system. We evaluated IMMERTWIN by performing a medium-scale user survey with 26 participants on two robots. Users were asked to teleoperate with both robots inside the virtual environment to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at leas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.08964","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/2409.08964/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":"2026-07-05T09:06:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O/laXjYjpYHU0wkozlfOaTsaUs4qw03USs6mOR+Qv1BPHxTKbW+rGMQxi7yFtY0+3RUMnZeWt5Rq9GBFNI7GBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T06:07:18.733225Z"},"content_sha256":"2fb2d6b348bd53cc377d5dec41c748f0d38d92a235d3d24e8193d5c8fe916468","schema_version":"1.0","event_id":"sha256:2fb2d6b348bd53cc377d5dec41c748f0d38d92a235d3d24e8193d5c8fe916468"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/bundle.json","state_url":"https://pith.science/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/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":"2026-08-23T06:07:18Z","links":{"resolver":"https://pith.science/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ","bundle":"https://pith.science/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/bundle.json","state":"https://pith.science/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ORVFV35Y76GBIH6QQ4K3R5RAOQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ORVFV35Y76GBIH6QQ4K3R5RAOQ","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":"bed9d75933707bdcce18589f8a548384ae3adeb9c060e1e4608c00df78564531","cross_cats_sorted":["cs.HC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T16:29:42Z","title_canon_sha256":"122f7059d14a1a5432b5cd63a1971a082177b436e557edf2356e33c7d3ee2c95"},"schema_version":"1.0","source":{"id":"2409.08964","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.08964","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"arxiv_version","alias_value":"2409.08964v1","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.08964","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_12","alias_value":"ORVFV35Y76GB","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_16","alias_value":"ORVFV35Y76GBIH6Q","created_at":"2026-07-05T09:06:50Z"},{"alias_kind":"pith_short_8","alias_value":"ORVFV35Y","created_at":"2026-07-05T09:06:50Z"}],"graph_snapshots":[{"event_id":"sha256:2fb2d6b348bd53cc377d5dec41c748f0d38d92a235d3d24e8193d5c8fe916468","target":"graph","created_at":"2026-07-05T09:06:50Z","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/2409.08964/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present IMMERTWIN, a mixed reality framework for enhance robotic arm teleoperation using a closed-loop digital twin as a bridge for interaction between the user and the robotic system. We evaluated IMMERTWIN by performing a medium-scale user survey with 26 participants on two robots. Users were asked to teleoperate with both robots inside the virtual environment to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at leas","authors_text":"Florent P. Audonnet, Gerardo Aragon-Camarasa, Ixchel G. Ramirez-Alpizar","cross_cats":["cs.HC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T16:29:42Z","title":"IMMERTWIN: A Mixed Reality Framework for Enhanced Robotic Arm Teleoperation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.08964","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":"sha256:0cb8a57243e51a2c626feabd68b1c3d9749e29c2adfd48228e3e1c61076bc610","target":"record","created_at":"2026-07-05T09:06:50Z","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":"bed9d75933707bdcce18589f8a548384ae3adeb9c060e1e4608c00df78564531","cross_cats_sorted":["cs.HC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T16:29:42Z","title_canon_sha256":"122f7059d14a1a5432b5cd63a1971a082177b436e557edf2356e33c7d3ee2c95"},"schema_version":"1.0","source":{"id":"2409.08964","kind":"arxiv","version":1}},"canonical_sha256":"746a5aefb8ff8c141fd08715b8f620742f4f20d6d624ef6ad9aecc84be35266b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"746a5aefb8ff8c141fd08715b8f620742f4f20d6d624ef6ad9aecc84be35266b","first_computed_at":"2026-07-05T09:06:50.296901Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:06:50.296901Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"w8S6HRqWxPIL9edBJV8SMOj2eNAneaFBqgKmdOQJ2wkenMjznHDuYa2aQYwg4zQA4RVHP7dxLIC529pRXzz6Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:06:50.297310Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.08964","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0cb8a57243e51a2c626feabd68b1c3d9749e29c2adfd48228e3e1c61076bc610","sha256:2fb2d6b348bd53cc377d5dec41c748f0d38d92a235d3d24e8193d5c8fe916468"],"state_sha256":"828166bf302528880dec894de00b17f251a0cfabe66d1ce6723e163ab9e1a155"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hiyVpZu+5cN5J1X7LbGwfHfFjfnswxiLAss5LRSsiJLY84mnDwKCUVC6wU7horLfs98mMLxRTwgPIgSus2m4Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T06:07:18.739085Z","bundle_sha256":"8553e827f8326a64c6bd0ac94ee9e03734aaa071f8ba5ff523c1b81f137bb475"}}