{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:6WNWCXXMXFV3M4P6KD4Q67BGXN","short_pith_number":"pith:6WNWCXXM","canonical_record":{"source":{"id":"2211.08182","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-15T14:45:50Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"682ba4a7ef62c357b873c37d1a18dd5c111acdc6f0acafe30ffbebae5f654cc9","abstract_canon_sha256":"7cfaa66f3caf5c5ff01184599bce76726f0568504d552b21d45c44f5ec4ac60a"},"schema_version":"1.0"},"canonical_sha256":"f59b615eecb96bb671fe50f90f7c26bb76a2fdce91d9fb0db5c1dbf149e0d4de","source":{"kind":"arxiv","id":"2211.08182","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.08182","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"arxiv_version","alias_value":"2211.08182v1","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.08182","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_12","alias_value":"6WNWCXXMXFV3","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_16","alias_value":"6WNWCXXMXFV3M4P6","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_8","alias_value":"6WNWCXXM","created_at":"2026-07-05T05:16:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:6WNWCXXMXFV3M4P6KD4Q67BGXN","target":"record","payload":{"canonical_record":{"source":{"id":"2211.08182","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-15T14:45:50Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"682ba4a7ef62c357b873c37d1a18dd5c111acdc6f0acafe30ffbebae5f654cc9","abstract_canon_sha256":"7cfaa66f3caf5c5ff01184599bce76726f0568504d552b21d45c44f5ec4ac60a"},"schema_version":"1.0"},"canonical_sha256":"f59b615eecb96bb671fe50f90f7c26bb76a2fdce91d9fb0db5c1dbf149e0d4de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:16:10.887808Z","signature_b64":"1UlxxHsizCYEi/foE0XhK5yh4AZBMaM9B4O4/qhceY9w4fyp339SQL4Sen+RSSxBxzzgyJ0P5YPurZQ/yGytCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f59b615eecb96bb671fe50f90f7c26bb76a2fdce91d9fb0db5c1dbf149e0d4de","last_reissued_at":"2026-07-05T05:16:10.887431Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:16:10.887431Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.08182","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":"2026-07-05T05:16:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nx93p0/iZ8DDS23p7hbzdDthlvVVmRcEjs2RFXOmIbup55GaO4+pdNlAKtBDn6rM0vfnMymMOD0aqkec8f4nDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T00:43:05.175030Z"},"content_sha256":"011cf11b64ed694b6864794d64bfc0d41966caa009433dad3601f22260454e71","schema_version":"1.0","event_id":"sha256:011cf11b64ed694b6864794d64bfc0d41966caa009433dad3601f22260454e71"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:6WNWCXXMXFV3M4P6KD4Q67BGXN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Grasping the Inconspicuous","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Hrishikesh Gupta, Markus Leitner, Markus Vincze, Stefan Thalhammer","submitted_at":"2022-11-15T14:45:50Z","abstract_excerpt":"Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of transparent objects, standard 3D sensors produce noisy or distorted measurements. Modern approaches tackle this problem by either refining the noisy depth measurements or using some intermediate representation of the depth. Towards this, we study deep learning 6D pose estimation from RGB images only for transparent object grasping. To train and test the suitability"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.08182","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/2211.08182/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":"2026-07-05T05:16:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EGQ02lmdK53bhXQcokbrbrN+vg4ObkeG4zKqdsbXeujGdKAavSmT+DSIe41jQslYlKX68BE1CT/WlbOexlITAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T00:43:05.175543Z"},"content_sha256":"3b180bd1dd6e9c95ada521d701cbcad91c7aadf5bb66d98bb9d7358965c4a46b","schema_version":"1.0","event_id":"sha256:3b180bd1dd6e9c95ada521d701cbcad91c7aadf5bb66d98bb9d7358965c4a46b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/bundle.json","state_url":"https://pith.science/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/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":"2026-08-13T00:43:05Z","links":{"resolver":"https://pith.science/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN","bundle":"https://pith.science/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/bundle.json","state":"https://pith.science/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6WNWCXXMXFV3M4P6KD4Q67BGXN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:6WNWCXXMXFV3M4P6KD4Q67BGXN","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":"7cfaa66f3caf5c5ff01184599bce76726f0568504d552b21d45c44f5ec4ac60a","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-15T14:45:50Z","title_canon_sha256":"682ba4a7ef62c357b873c37d1a18dd5c111acdc6f0acafe30ffbebae5f654cc9"},"schema_version":"1.0","source":{"id":"2211.08182","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.08182","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"arxiv_version","alias_value":"2211.08182v1","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.08182","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_12","alias_value":"6WNWCXXMXFV3","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_16","alias_value":"6WNWCXXMXFV3M4P6","created_at":"2026-07-05T05:16:10Z"},{"alias_kind":"pith_short_8","alias_value":"6WNWCXXM","created_at":"2026-07-05T05:16:10Z"}],"graph_snapshots":[{"event_id":"sha256:3b180bd1dd6e9c95ada521d701cbcad91c7aadf5bb66d98bb9d7358965c4a46b","target":"graph","created_at":"2026-07-05T05:16:10Z","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/2211.08182/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of transparent objects, standard 3D sensors produce noisy or distorted measurements. Modern approaches tackle this problem by either refining the noisy depth measurements or using some intermediate representation of the depth. Towards this, we study deep learning 6D pose estimation from RGB images only for transparent object grasping. To train and test the suitability","authors_text":"Hrishikesh Gupta, Markus Leitner, Markus Vincze, Stefan Thalhammer","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-15T14:45:50Z","title":"Grasping the Inconspicuous"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.08182","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":"sha256:011cf11b64ed694b6864794d64bfc0d41966caa009433dad3601f22260454e71","target":"record","created_at":"2026-07-05T05:16:10Z","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":"7cfaa66f3caf5c5ff01184599bce76726f0568504d552b21d45c44f5ec4ac60a","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2022-11-15T14:45:50Z","title_canon_sha256":"682ba4a7ef62c357b873c37d1a18dd5c111acdc6f0acafe30ffbebae5f654cc9"},"schema_version":"1.0","source":{"id":"2211.08182","kind":"arxiv","version":1}},"canonical_sha256":"f59b615eecb96bb671fe50f90f7c26bb76a2fdce91d9fb0db5c1dbf149e0d4de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f59b615eecb96bb671fe50f90f7c26bb76a2fdce91d9fb0db5c1dbf149e0d4de","first_computed_at":"2026-07-05T05:16:10.887431Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:16:10.887431Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1UlxxHsizCYEi/foE0XhK5yh4AZBMaM9B4O4/qhceY9w4fyp339SQL4Sen+RSSxBxzzgyJ0P5YPurZQ/yGytCg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:16:10.887808Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.08182","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:011cf11b64ed694b6864794d64bfc0d41966caa009433dad3601f22260454e71","sha256:3b180bd1dd6e9c95ada521d701cbcad91c7aadf5bb66d98bb9d7358965c4a46b"],"state_sha256":"460c29d22022eec4a25784bda42e00b1ebb51ef925a85da57e62424acded7bbb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SFGWFjDZmz4e3+Cv2cNb2buusRafFpYlKkq3kcDoRx2o6KHh+VMln7oxstkh4k0xWVnRWxoMFYB4AyhDGyPrAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T00:43:05.179059Z","bundle_sha256":"76b6c2489f5d34d54e7e076401096c7782b76ef81b3f62bacaa6a28b4774e8a1"}}