{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:5N2LKZLSFYR4TGPCAUH7KJ3AD4","short_pith_number":"pith:5N2LKZLS","canonical_record":{"source":{"id":"2404.12717","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-19T08:58:52Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"02b3e929a0da14995083b4b58131011b6110c4270f6c3e8e1b3b2d88c7f2b96a","abstract_canon_sha256":"ac2e88504d36f6bfc17216886809903fa829d821fb2a906d20e1da14ffa68688"},"schema_version":"1.0"},"canonical_sha256":"eb74b565722e23c999e2050ff527601f23d0f070b61bc9fbd1eb8f3fd4e402ed","source":{"kind":"arxiv","id":"2404.12717","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.12717","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"arxiv_version","alias_value":"2404.12717v1","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.12717","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_12","alias_value":"5N2LKZLSFYR4","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_16","alias_value":"5N2LKZLSFYR4TGPC","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_8","alias_value":"5N2LKZLS","created_at":"2026-07-05T08:09:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:5N2LKZLSFYR4TGPCAUH7KJ3AD4","target":"record","payload":{"canonical_record":{"source":{"id":"2404.12717","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-19T08:58:52Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"02b3e929a0da14995083b4b58131011b6110c4270f6c3e8e1b3b2d88c7f2b96a","abstract_canon_sha256":"ac2e88504d36f6bfc17216886809903fa829d821fb2a906d20e1da14ffa68688"},"schema_version":"1.0"},"canonical_sha256":"eb74b565722e23c999e2050ff527601f23d0f070b61bc9fbd1eb8f3fd4e402ed","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:09:58.163907Z","signature_b64":"RZF44PvkP3QfuOE5t6xGCvIJFEsdymezDxjLJUr0MwSTTlTG/rL1/VeqbylNbXAun+Uy310AbX/u8LAcqog0CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eb74b565722e23c999e2050ff527601f23d0f070b61bc9fbd1eb8f3fd4e402ed","last_reissued_at":"2026-07-05T08:09:58.163483Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:09:58.163483Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.12717","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":"2026-07-05T08:09:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6/Q8eiOPcmQOWvcHmPdlP0X1vpnCDnz/OhVz77Y7jDXSE891NCS0TE1htyIu+GgIBjAWja4YXvJADjTr2sfgBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T12:53:49.905575Z"},"content_sha256":"104f76d85f51f9907d3db495c46f4ae4b80379a35b0b4e4a21748819d7afd012","schema_version":"1.0","event_id":"sha256:104f76d85f51f9907d3db495c46f4ae4b80379a35b0b4e4a21748819d7afd012"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:5N2LKZLSFYR4TGPCAUH7KJ3AD4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Show and Grasp: Few-shot Semantic Segmentation for Robot Grasping through Zero-shot Foundation Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Alberto Bacchin, Emanuele Menegatti, Leonardo Barcellona, Matteo Terreran, Stefano Ghidoni","submitted_at":"2024-04-19T08:58:52Z","abstract_excerpt":"The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of the gripper. A common solution to this problem relies on semantic segmentation models, which often show poor generalization to unseen objects and require considerable time and massive data to be trained. To reduce the need for large datasets, some grasping pipelines exploit few-shot semantic segmentation models, which are capable of recognizing new classes gi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.12717","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/2404.12717/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":"2026-07-05T08:09:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VWt1aoduiESo1YY3kyadITheeDWWLgOawJIdCPLeYA1TIaIc5tBmAjwGExvJ/FtK3VV+6OzzK/u7HebMFBLPDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T12:53:49.905955Z"},"content_sha256":"78f3356a0677ed406419f97527c6469004bdc8f931d26c7746daa3fa03b0dbd2","schema_version":"1.0","event_id":"sha256:78f3356a0677ed406419f97527c6469004bdc8f931d26c7746daa3fa03b0dbd2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/bundle.json","state_url":"https://pith.science/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/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":"2026-07-17T12:53:49Z","links":{"resolver":"https://pith.science/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4","bundle":"https://pith.science/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/bundle.json","state":"https://pith.science/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5N2LKZLSFYR4TGPCAUH7KJ3AD4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:5N2LKZLSFYR4TGPCAUH7KJ3AD4","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":"ac2e88504d36f6bfc17216886809903fa829d821fb2a906d20e1da14ffa68688","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-19T08:58:52Z","title_canon_sha256":"02b3e929a0da14995083b4b58131011b6110c4270f6c3e8e1b3b2d88c7f2b96a"},"schema_version":"1.0","source":{"id":"2404.12717","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.12717","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"arxiv_version","alias_value":"2404.12717v1","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.12717","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_12","alias_value":"5N2LKZLSFYR4","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_16","alias_value":"5N2LKZLSFYR4TGPC","created_at":"2026-07-05T08:09:58Z"},{"alias_kind":"pith_short_8","alias_value":"5N2LKZLS","created_at":"2026-07-05T08:09:58Z"}],"graph_snapshots":[{"event_id":"sha256:78f3356a0677ed406419f97527c6469004bdc8f931d26c7746daa3fa03b0dbd2","target":"graph","created_at":"2026-07-05T08:09:58Z","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/2404.12717/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of the gripper. A common solution to this problem relies on semantic segmentation models, which often show poor generalization to unseen objects and require considerable time and massive data to be trained. To reduce the need for large datasets, some grasping pipelines exploit few-shot semantic segmentation models, which are capable of recognizing new classes gi","authors_text":"Alberto Bacchin, Emanuele Menegatti, Leonardo Barcellona, Matteo Terreran, Stefano Ghidoni","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-19T08:58:52Z","title":"Show and Grasp: Few-shot Semantic Segmentation for Robot Grasping through Zero-shot Foundation Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.12717","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":"sha256:104f76d85f51f9907d3db495c46f4ae4b80379a35b0b4e4a21748819d7afd012","target":"record","created_at":"2026-07-05T08:09:58Z","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":"ac2e88504d36f6bfc17216886809903fa829d821fb2a906d20e1da14ffa68688","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-19T08:58:52Z","title_canon_sha256":"02b3e929a0da14995083b4b58131011b6110c4270f6c3e8e1b3b2d88c7f2b96a"},"schema_version":"1.0","source":{"id":"2404.12717","kind":"arxiv","version":1}},"canonical_sha256":"eb74b565722e23c999e2050ff527601f23d0f070b61bc9fbd1eb8f3fd4e402ed","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eb74b565722e23c999e2050ff527601f23d0f070b61bc9fbd1eb8f3fd4e402ed","first_computed_at":"2026-07-05T08:09:58.163483Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:09:58.163483Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RZF44PvkP3QfuOE5t6xGCvIJFEsdymezDxjLJUr0MwSTTlTG/rL1/VeqbylNbXAun+Uy310AbX/u8LAcqog0CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:09:58.163907Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.12717","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:104f76d85f51f9907d3db495c46f4ae4b80379a35b0b4e4a21748819d7afd012","sha256:78f3356a0677ed406419f97527c6469004bdc8f931d26c7746daa3fa03b0dbd2"],"state_sha256":"e2e70adfce4c7f816a5e19b002735054882a1e99045cba5c39400ce1d3377c58"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xnTHWcC3ekpfPStzBJFMrQ6IqxTs7Hvj/R20kGseb/d4T00GJtn4LrDhggNyLqchFzdVeKWmCHpjHzSWossrDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T12:53:49.908441Z","bundle_sha256":"55783be185c370332bcbc605444929fed3a086e7a5844ba7748055230f4a2e92"}}