{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:BGYQKBYBQ3P6S2TXOAGHSLRMT6","short_pith_number":"pith:BGYQKBYB","canonical_record":{"source":{"id":"2605.21398","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","cross_cats_sorted":[],"title_canon_sha256":"8c66052542b630349c2a9e2c133fc07e2e70c215c9b722eded7e1b83ca09f75b","abstract_canon_sha256":"ad462687d3a47de301044528707837e9c51712f50db5eb2bfde1811dff3c8f84"},"schema_version":"1.0"},"canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","source":{"kind":"arxiv","id":"2605.21398","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.21398","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"arxiv_version","alias_value":"2605.21398v1","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.21398","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_12","alias_value":"BGYQKBYBQ3P6","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_16","alias_value":"BGYQKBYBQ3P6S2TX","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_8","alias_value":"BGYQKBYB","created_at":"2026-05-21T02:05:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:BGYQKBYBQ3P6S2TXOAGHSLRMT6","target":"record","payload":{"canonical_record":{"source":{"id":"2605.21398","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","cross_cats_sorted":[],"title_canon_sha256":"8c66052542b630349c2a9e2c133fc07e2e70c215c9b722eded7e1b83ca09f75b","abstract_canon_sha256":"ad462687d3a47de301044528707837e9c51712f50db5eb2bfde1811dff3c8f84"},"schema_version":"1.0"},"canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-21T02:05:32.856355Z","signature_b64":"CDvLdKFutKpK0nJa9/iGbvhXuvmIUMCrIMrYVXCjBmTysefV/S2z7oJnrWZ7/CdQ2g6FXVW4jCc2WYyzfWZnBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","last_reissued_at":"2026-05-21T02:05:32.855684Z","signature_status":"signed_v1","first_computed_at":"2026-05-21T02:05:32.855684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.21398","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":"2026-05-21T02:05:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Sx3l9ybLubYp1Q72DwswG78dtoIpqm/oOXjTZGB9If2ylbxZfzJJeAmcTv7s4O4nca92uYqhJ8XJGXUrbrI3DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:49:00.391802Z"},"content_sha256":"035b8e11baefe59350e1411dae8adde31418bca55b3a8c9f7d5ef63c59a8b7ef","schema_version":"1.0","event_id":"sha256:035b8e11baefe59350e1411dae8adde31418bca55b3a8c9f7d5ef63c59a8b7ef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:BGYQKBYBQ3P6S2TXOAGHSLRMT6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From swept contact to pose: Probe-aware registration via complementary-shape docking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chang Shu, Chen Chen, Jianxia Hou, Shiji Song, Xiangjie Yan, Xiang Li, Yifan Xu, Yunwen Li","submitted_at":"2026-05-20T16:56:39Z","abstract_excerpt":"Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking between the object and the probe's swept volume, explicitly accounting for probe geometry and leveraging both contact and non-contact evidence. Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples, then followed"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.21398","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/2605.21398/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":"2026-05-21T02:05:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MT1CUDpS0sm7c7WSrx4Mi6HzNaq29pUXxAvFbxT+ZcQb6t6Hz1ny46gGgyU0VaLfrhMM6qMsWEYMNrvwzW5nDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:49:00.392591Z"},"content_sha256":"271fe89b4bc8438d46eec5c8466c91ad97b0b7c87802fbd6cd63e716ff5c68cb","schema_version":"1.0","event_id":"sha256:271fe89b4bc8438d46eec5c8466c91ad97b0b7c87802fbd6cd63e716ff5c68cb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/bundle.json","state_url":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/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":"2026-05-26T01:49:00Z","links":{"resolver":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6","bundle":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/bundle.json","state":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:BGYQKBYBQ3P6S2TXOAGHSLRMT6","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":"ad462687d3a47de301044528707837e9c51712f50db5eb2bfde1811dff3c8f84","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","title_canon_sha256":"8c66052542b630349c2a9e2c133fc07e2e70c215c9b722eded7e1b83ca09f75b"},"schema_version":"1.0","source":{"id":"2605.21398","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.21398","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"arxiv_version","alias_value":"2605.21398v1","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.21398","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_12","alias_value":"BGYQKBYBQ3P6","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_16","alias_value":"BGYQKBYBQ3P6S2TX","created_at":"2026-05-21T02:05:32Z"},{"alias_kind":"pith_short_8","alias_value":"BGYQKBYB","created_at":"2026-05-21T02:05:32Z"}],"graph_snapshots":[{"event_id":"sha256:271fe89b4bc8438d46eec5c8466c91ad97b0b7c87802fbd6cd63e716ff5c68cb","target":"graph","created_at":"2026-05-21T02:05:32Z","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/2605.21398/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking between the object and the probe's swept volume, explicitly accounting for probe geometry and leveraging both contact and non-contact evidence. Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples, then followed","authors_text":"Chang Shu, Chen Chen, Jianxia Hou, Shiji Song, Xiangjie Yan, Xiang Li, Yifan Xu, Yunwen Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","title":"From swept contact to pose: Probe-aware registration via complementary-shape docking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.21398","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":"sha256:035b8e11baefe59350e1411dae8adde31418bca55b3a8c9f7d5ef63c59a8b7ef","target":"record","created_at":"2026-05-21T02:05:32Z","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":"ad462687d3a47de301044528707837e9c51712f50db5eb2bfde1811dff3c8f84","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","title_canon_sha256":"8c66052542b630349c2a9e2c133fc07e2e70c215c9b722eded7e1b83ca09f75b"},"schema_version":"1.0","source":{"id":"2605.21398","kind":"arxiv","version":1}},"canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","first_computed_at":"2026-05-21T02:05:32.855684Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-21T02:05:32.855684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CDvLdKFutKpK0nJa9/iGbvhXuvmIUMCrIMrYVXCjBmTysefV/S2z7oJnrWZ7/CdQ2g6FXVW4jCc2WYyzfWZnBg==","signature_status":"signed_v1","signed_at":"2026-05-21T02:05:32.856355Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.21398","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:035b8e11baefe59350e1411dae8adde31418bca55b3a8c9f7d5ef63c59a8b7ef","sha256:271fe89b4bc8438d46eec5c8466c91ad97b0b7c87802fbd6cd63e716ff5c68cb"],"state_sha256":"0cb690f3f889a66a66b5ff188e57f5d467b2f1d2145582ee2166c00c260a4533"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z25rntcs74K3gb7AyAH4AaLqSbb4e8+AsiVzNUJQkV2ym/GxP0OyV8amZ5Fq4gvsHQgC3zLiweAR3MBtoNefDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T01:49:00.397533Z","bundle_sha256":"b7b7084f3475782d39465d5d39560d2ae693a3d0d0ecce5aa91b251a952d4780"}}