{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:4H5CVJLQKDSKDRV3GAC54TH6DT","short_pith_number":"pith:4H5CVJLQ","canonical_record":{"source":{"id":"1809.05390","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T13:11:13Z","cross_cats_sorted":[],"title_canon_sha256":"0313158beda076457b38e3fd3c25f4867bba3fc7f68ec63611f459b951606224","abstract_canon_sha256":"e7fe3b3eaea1154aff543a17bd6282fe5c5c2993bbd9c90a5315572bf7989c99"},"schema_version":"1.0"},"canonical_sha256":"e1fa2aa57050e4a1c6bb3005de4cfe1cfa3319421d3a12a114937467261da084","source":{"kind":"arxiv","id":"1809.05390","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.05390","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"arxiv_version","alias_value":"1809.05390v1","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.05390","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"pith_short_12","alias_value":"4H5CVJLQKDSK","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_16","alias_value":"4H5CVJLQKDSKDRV3","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_8","alias_value":"4H5CVJLQ","created_at":"2026-05-18T12:32:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:4H5CVJLQKDSKDRV3GAC54TH6DT","target":"record","payload":{"canonical_record":{"source":{"id":"1809.05390","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T13:11:13Z","cross_cats_sorted":[],"title_canon_sha256":"0313158beda076457b38e3fd3c25f4867bba3fc7f68ec63611f459b951606224","abstract_canon_sha256":"e7fe3b3eaea1154aff543a17bd6282fe5c5c2993bbd9c90a5315572bf7989c99"},"schema_version":"1.0"},"canonical_sha256":"e1fa2aa57050e4a1c6bb3005de4cfe1cfa3319421d3a12a114937467261da084","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:41.594152Z","signature_b64":"CX4ZlF+jHex4BY2crcACflXPCcqwATu0Qs7rxLS+FeC83mtdl+f0nGjAs9KqPc+mSNyo0GuWfrF3i62KWjszDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e1fa2aa57050e4a1c6bb3005de4cfe1cfa3319421d3a12a114937467261da084","last_reissued_at":"2026-05-18T00:05:41.593525Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:41.593525Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.05390","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":"2026-05-18T00:05:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4RRWsdpxKef7cGP+CeG1CZwDLPrtxQUu/TZc1OhjfdvOINTsWkiog2flC58J+TTHVPRTo5P0Hpm1QHb1cmf/BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T20:15:38.883466Z"},"content_sha256":"22df3edf444ec7864e30cc5536ce19eb21cb9093a70aa352aabbf5592908c59e","schema_version":"1.0","event_id":"sha256:22df3edf444ec7864e30cc5536ce19eb21cb9093a70aa352aabbf5592908c59e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:4H5CVJLQKDSKDRV3GAC54TH6DT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Diego Rodriguez, Sven Behnke","submitted_at":"2018-09-14T13:11:13Z","abstract_excerpt":"Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for transferring grasping skills that accumulates grasping knowledge into a category-level canonical model. Grasping motions for novel instances of the category are inferred from geometric deformations between the observed instance and the canonical shape. Correspondences between the shapes are established by means of a non-rigid registration method that combin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.05390","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":""},"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":"2026-05-18T00:05:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1zBknJL2linzpIyvJ8nwHVBbTIdhL67mqqmt5HdLsKaTrfIhXRcR1ltpGW4TLaFYwGiP4snN0wk6ab4cWoUECQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T20:15:38.884118Z"},"content_sha256":"a2b47e7b3aca5297f0aef099a8dd85fa558916cd515d3fd6280b0198a3227850","schema_version":"1.0","event_id":"sha256:a2b47e7b3aca5297f0aef099a8dd85fa558916cd515d3fd6280b0198a3227850"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/bundle.json","state_url":"https://pith.science/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/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":"2026-05-28T20:15:38Z","links":{"resolver":"https://pith.science/pith/4H5CVJLQKDSKDRV3GAC54TH6DT","bundle":"https://pith.science/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/bundle.json","state":"https://pith.science/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4H5CVJLQKDSKDRV3GAC54TH6DT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:4H5CVJLQKDSKDRV3GAC54TH6DT","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":"e7fe3b3eaea1154aff543a17bd6282fe5c5c2993bbd9c90a5315572bf7989c99","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T13:11:13Z","title_canon_sha256":"0313158beda076457b38e3fd3c25f4867bba3fc7f68ec63611f459b951606224"},"schema_version":"1.0","source":{"id":"1809.05390","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.05390","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"arxiv_version","alias_value":"1809.05390v1","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.05390","created_at":"2026-05-18T00:05:41Z"},{"alias_kind":"pith_short_12","alias_value":"4H5CVJLQKDSK","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_16","alias_value":"4H5CVJLQKDSKDRV3","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_8","alias_value":"4H5CVJLQ","created_at":"2026-05-18T12:32:05Z"}],"graph_snapshots":[{"event_id":"sha256:a2b47e7b3aca5297f0aef099a8dd85fa558916cd515d3fd6280b0198a3227850","target":"graph","created_at":"2026-05-18T00:05:41Z","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"},"paper":{"abstract_excerpt":"Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for transferring grasping skills that accumulates grasping knowledge into a category-level canonical model. Grasping motions for novel instances of the category are inferred from geometric deformations between the observed instance and the canonical shape. Correspondences between the shapes are established by means of a non-rigid registration method that combin","authors_text":"Diego Rodriguez, Sven Behnke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T13:11:13Z","title":"Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.05390","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":"sha256:22df3edf444ec7864e30cc5536ce19eb21cb9093a70aa352aabbf5592908c59e","target":"record","created_at":"2026-05-18T00:05:41Z","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":"e7fe3b3eaea1154aff543a17bd6282fe5c5c2993bbd9c90a5315572bf7989c99","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T13:11:13Z","title_canon_sha256":"0313158beda076457b38e3fd3c25f4867bba3fc7f68ec63611f459b951606224"},"schema_version":"1.0","source":{"id":"1809.05390","kind":"arxiv","version":1}},"canonical_sha256":"e1fa2aa57050e4a1c6bb3005de4cfe1cfa3319421d3a12a114937467261da084","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e1fa2aa57050e4a1c6bb3005de4cfe1cfa3319421d3a12a114937467261da084","first_computed_at":"2026-05-18T00:05:41.593525Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:41.593525Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CX4ZlF+jHex4BY2crcACflXPCcqwATu0Qs7rxLS+FeC83mtdl+f0nGjAs9KqPc+mSNyo0GuWfrF3i62KWjszDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:41.594152Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.05390","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:22df3edf444ec7864e30cc5536ce19eb21cb9093a70aa352aabbf5592908c59e","sha256:a2b47e7b3aca5297f0aef099a8dd85fa558916cd515d3fd6280b0198a3227850"],"state_sha256":"58c5ec90c2ae9dfa61f92eefc2357331aa5b755d98bd3c3f9c02c0ef78d39308"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wjUyTf/vkGsJaZntykXK3OtcYt3/nXdM4G11xOWsOGj6qOFfwERKgSPZxovOJnI0BrKmXRTIi2meQ9ZxsJpODg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T20:15:38.887329Z","bundle_sha256":"4ca23a717c3f2ef6cadc2920a0cf4409b91c3f9a3a1a29b93ec606cba30b52f9"}}