{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:UECOX4ZMFOKFOVIZADXXZNUXJB","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":"3c8f2c4ce3af73a43f7b59e88972da919456f130faaeb6a2caf1b95a3be6e9a9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-04-24T09:14:44Z","title_canon_sha256":"872ecbd8d5dc35f5b9691d20ef9ae19ed338d632d7543307aa34bd661efc649e"},"schema_version":"1.0","source":{"id":"2604.22378","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2604.22378","created_at":"2026-06-23T02:13:24Z"},{"alias_kind":"arxiv_version","alias_value":"2604.22378v2","created_at":"2026-06-23T02:13:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2604.22378","created_at":"2026-06-23T02:13:24Z"},{"alias_kind":"pith_short_12","alias_value":"UECOX4ZMFOKF","created_at":"2026-06-23T02:13:24Z"},{"alias_kind":"pith_short_16","alias_value":"UECOX4ZMFOKFOVIZ","created_at":"2026-06-23T02:13:24Z"},{"alias_kind":"pith_short_8","alias_value":"UECOX4ZM","created_at":"2026-06-23T02:13:24Z"}],"graph_snapshots":[{"event_id":"sha256:cbbd590567c964f67ebbaca235b4ba7f1a1841f48b157a464a63a1d1b3657e85","target":"graph","created_at":"2026-06-23T02:13:24Z","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":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"The results demonstrate that dynamic alignment significantly reduces users' cognitive workload and physiological stress, while increasing perceived trust in the robot's reliability."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"That real-time AI hand pose estimation reliably infers the user's intended grasp and downstream task without significant errors or delays under varying conditions."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"An adaptive robot-to-human handover framework dynamically aligns object pose via hand pose estimation and task awareness, yielding lower workload, reduced physiological stress, and higher trust than static baselines in a user study."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"Adaptive robot handovers that adjust object orientation in real time reduce user cognitive workload and stress."}],"snapshot_sha256":"11d2ef347cda446d321162a3f856eeb7556147c09db2c6a81c7fdbd8581f4c08"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-21T10:40:58.807087Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"doi_compliance","ran_at":"2026-05-20T00:04:22.512265Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2604.22378/integrity.json","findings":[],"snapshot_sha256":"bf4888841fb0da21b0539ecf88b699d5f7da528965c5c97d7e51c7f97354ac5b","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This work presents a novel adaptive framework that dynamically adjusts the object's delivery pose in real time based on the user's hand pose and the intended downstream task. By integrating AI-based hand pose estimation with smooth, kinematically constrained trajectories, the system ensures a safe approach and an optimal handover orientation. A comprehensive user","authors_text":"Cristina Iani, Dario Onfiani, Federico Biagi, Luigi Biagiotti, Simone Silenzi","cross_cats":[],"headline":"Adaptive robot handovers that adjust object orientation in real time reduce user cognitive workload and stress.","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-04-24T09:14:44Z","title":"Adaptive vs. Static Robot-to-Human Handover: A Study on Orientation and Approach Direction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2604.22378","kind":"arxiv","version":2},"verdict":{"created_at":"2026-05-08T11:34:11.689365Z","id":"473a0a60-530f-4124-b767-225a6ddb2abc","model_set":{"reader":"grok-4.3"},"one_line_summary":"An adaptive robot-to-human handover framework dynamically aligns object pose via hand pose estimation and task awareness, yielding lower workload, reduced physiological stress, and higher trust than static baselines in a user study.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"Adaptive robot handovers that adjust object orientation in real time reduce user cognitive workload and stress.","strongest_claim":"The results demonstrate that dynamic alignment significantly reduces users' cognitive workload and physiological stress, while increasing perceived trust in the robot's reliability.","weakest_assumption":"That real-time AI hand pose estimation reliably infers the user's intended grasp and downstream task without significant errors or delays under varying conditions."}},"verdict_id":"473a0a60-530f-4124-b767-225a6ddb2abc"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:eee4032f04cc1ebd351fe60eda433556a2be933adc333aac30607055c5bf47da","target":"record","created_at":"2026-06-23T02:13:24Z","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":"3c8f2c4ce3af73a43f7b59e88972da919456f130faaeb6a2caf1b95a3be6e9a9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-04-24T09:14:44Z","title_canon_sha256":"872ecbd8d5dc35f5b9691d20ef9ae19ed338d632d7543307aa34bd661efc649e"},"schema_version":"1.0","source":{"id":"2604.22378","kind":"arxiv","version":2}},"canonical_sha256":"a104ebf32c2b9457551900ef7cb697487d116e01087b902120be212dc0802ea1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a104ebf32c2b9457551900ef7cb697487d116e01087b902120be212dc0802ea1","first_computed_at":"2026-06-23T02:13:24.205592Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T02:13:24.205592Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wJP1vsbjGkiYUMWSH/70asc4BSq4ZdPagVAq1JqH2b3SJal5pIbrtQxn5o7iRi5mIjabhopBI1xMRPmQ/gpuDA==","signature_status":"signed_v1","signed_at":"2026-06-23T02:13:24.205999Z","signed_message":"canonical_sha256_bytes"},"source_id":"2604.22378","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eee4032f04cc1ebd351fe60eda433556a2be933adc333aac30607055c5bf47da","sha256:cbbd590567c964f67ebbaca235b4ba7f1a1841f48b157a464a63a1d1b3657e85"],"state_sha256":"fb8f9acb033d72c74d86d9a5534e3658d911566b08e679522584305db5c00ce4"}