{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:XTSB72I3665LXXMQSZ2KIAGA2P","short_pith_number":"pith:XTSB72I3","canonical_record":{"source":{"id":"2509.01996","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T06:20:28Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"195ac86c2cdd6fe64b00d9b585dfa1fc92205b3780dfc835ab3dbb6224f26ef2","abstract_canon_sha256":"d59d0e124b4cf6638dd7cc1e14d283468109452ed9ecfb6b0de873a9656bbc3f"},"schema_version":"1.0"},"canonical_sha256":"bce41fe91bf7babbdd909674a400c0d3c564627dbae110548f666da23cd5ce88","source":{"kind":"arxiv","id":"2509.01996","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.01996","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"arxiv_version","alias_value":"2509.01996v1","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.01996","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_12","alias_value":"XTSB72I3665L","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_16","alias_value":"XTSB72I3665LXXMQ","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_8","alias_value":"XTSB72I3","created_at":"2026-07-05T12:03:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:XTSB72I3665LXXMQSZ2KIAGA2P","target":"record","payload":{"canonical_record":{"source":{"id":"2509.01996","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T06:20:28Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"195ac86c2cdd6fe64b00d9b585dfa1fc92205b3780dfc835ab3dbb6224f26ef2","abstract_canon_sha256":"d59d0e124b4cf6638dd7cc1e14d283468109452ed9ecfb6b0de873a9656bbc3f"},"schema_version":"1.0"},"canonical_sha256":"bce41fe91bf7babbdd909674a400c0d3c564627dbae110548f666da23cd5ce88","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:03:12.521517Z","signature_b64":"QMfCmKPj0dElqvsqBmgWc66+CEoGBxXva70HH3Z6Zx0C2pGmZ6Y9B27E0sQUeO2b77HAmCy0ovgRgQRx+RoCCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bce41fe91bf7babbdd909674a400c0d3c564627dbae110548f666da23cd5ce88","last_reissued_at":"2026-07-05T12:03:12.521014Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:03:12.521014Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.01996","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":"2026-07-05T12:03:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SrHPQ20ClsrATeZMtiGKD7B3FDrQ/wA7zBPjYmxNtK3UGrs/YLVNzFLqIwlbo1TYrYiPFVfO7A/bQqJEzhUzAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T17:24:34.488079Z"},"content_sha256":"a8b125fedb320769f51af9e539b72049577a80591806ac90a8783ee18900df2a","schema_version":"1.0","event_id":"sha256:a8b125fedb320769f51af9e539b72049577a80591806ac90a8783ee18900df2a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:XTSB72I3665LXXMQSZ2KIAGA2P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MIRAGE: Multimodal Intention Recognition and Admittance-Guided Enhancement in VR-based Multi-object Teleoperation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Abhishek Kumar, Chengbin Cui, Chi Sun, Lik-Hang Lee, Xian Wang","submitted_at":"2025-09-02T06:20:28Z","abstract_excerpt":"Effective human-robot interaction (HRI) in multi-object teleoperation tasks faces significant challenges due to perceptual ambiguities in virtual reality (VR) environments and the limitations of single-modality intention recognition. This paper proposes a shared control framework that combines a virtual admittance (VA) model with a Multimodal-CNN-based Human Intention Perception Network (MMIPN) to enhance teleoperation performance and user experience. The VA model employs artificial potential fields to guide operators toward target objects by adjusting admittance force and optimizing motion tr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.01996","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/2509.01996/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":"2026-07-05T12:03:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f0k6d58+Bcm72Dnbg55/pj6TvVcwoj2kK+96k2zt+7+ywGZtkRzIkmqJF+fggQYg/XWdjWgLozgA9Rv3rLa2CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T17:24:34.488571Z"},"content_sha256":"bd4e10f1ca5be222c9b88bec3438a3ce1a7174185e83a60d97f74163b273f7fb","schema_version":"1.0","event_id":"sha256:bd4e10f1ca5be222c9b88bec3438a3ce1a7174185e83a60d97f74163b273f7fb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XTSB72I3665LXXMQSZ2KIAGA2P/bundle.json","state_url":"https://pith.science/pith/XTSB72I3665LXXMQSZ2KIAGA2P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XTSB72I3665LXXMQSZ2KIAGA2P/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":"2026-08-13T17:24:34Z","links":{"resolver":"https://pith.science/pith/XTSB72I3665LXXMQSZ2KIAGA2P","bundle":"https://pith.science/pith/XTSB72I3665LXXMQSZ2KIAGA2P/bundle.json","state":"https://pith.science/pith/XTSB72I3665LXXMQSZ2KIAGA2P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XTSB72I3665LXXMQSZ2KIAGA2P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:XTSB72I3665LXXMQSZ2KIAGA2P","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":"d59d0e124b4cf6638dd7cc1e14d283468109452ed9ecfb6b0de873a9656bbc3f","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T06:20:28Z","title_canon_sha256":"195ac86c2cdd6fe64b00d9b585dfa1fc92205b3780dfc835ab3dbb6224f26ef2"},"schema_version":"1.0","source":{"id":"2509.01996","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.01996","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"arxiv_version","alias_value":"2509.01996v1","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.01996","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_12","alias_value":"XTSB72I3665L","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_16","alias_value":"XTSB72I3665LXXMQ","created_at":"2026-07-05T12:03:12Z"},{"alias_kind":"pith_short_8","alias_value":"XTSB72I3","created_at":"2026-07-05T12:03:12Z"}],"graph_snapshots":[{"event_id":"sha256:bd4e10f1ca5be222c9b88bec3438a3ce1a7174185e83a60d97f74163b273f7fb","target":"graph","created_at":"2026-07-05T12:03:12Z","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/2509.01996/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Effective human-robot interaction (HRI) in multi-object teleoperation tasks faces significant challenges due to perceptual ambiguities in virtual reality (VR) environments and the limitations of single-modality intention recognition. This paper proposes a shared control framework that combines a virtual admittance (VA) model with a Multimodal-CNN-based Human Intention Perception Network (MMIPN) to enhance teleoperation performance and user experience. The VA model employs artificial potential fields to guide operators toward target objects by adjusting admittance force and optimizing motion tr","authors_text":"Abhishek Kumar, Chengbin Cui, Chi Sun, Lik-Hang Lee, Xian Wang","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T06:20:28Z","title":"MIRAGE: Multimodal Intention Recognition and Admittance-Guided Enhancement in VR-based Multi-object Teleoperation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.01996","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:a8b125fedb320769f51af9e539b72049577a80591806ac90a8783ee18900df2a","target":"record","created_at":"2026-07-05T12:03:12Z","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":"d59d0e124b4cf6638dd7cc1e14d283468109452ed9ecfb6b0de873a9656bbc3f","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T06:20:28Z","title_canon_sha256":"195ac86c2cdd6fe64b00d9b585dfa1fc92205b3780dfc835ab3dbb6224f26ef2"},"schema_version":"1.0","source":{"id":"2509.01996","kind":"arxiv","version":1}},"canonical_sha256":"bce41fe91bf7babbdd909674a400c0d3c564627dbae110548f666da23cd5ce88","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bce41fe91bf7babbdd909674a400c0d3c564627dbae110548f666da23cd5ce88","first_computed_at":"2026-07-05T12:03:12.521014Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:03:12.521014Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QMfCmKPj0dElqvsqBmgWc66+CEoGBxXva70HH3Z6Zx0C2pGmZ6Y9B27E0sQUeO2b77HAmCy0ovgRgQRx+RoCCw==","signature_status":"signed_v1","signed_at":"2026-07-05T12:03:12.521517Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.01996","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a8b125fedb320769f51af9e539b72049577a80591806ac90a8783ee18900df2a","sha256:bd4e10f1ca5be222c9b88bec3438a3ce1a7174185e83a60d97f74163b273f7fb"],"state_sha256":"b2b33c0b1869c497cc5e78e25af78adb092a3bb5d4f5c2fef037694f32e969dd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YEFjbqclLExzocCiGII+QMHWxW5WxSENvfboeVWoRd0dQ4tr/BChc0aE/tnX0rFQk4YkxD53140dodOC+a2IBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T17:24:34.493572Z","bundle_sha256":"54484698be60a07a058f00b78ac5cace86e74f283f1a8dfb5aaf4e6149402137"}}