{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:CKGJY43BLVCIFCQ6HESBGO47AN","short_pith_number":"pith:CKGJY43B","schema_version":"1.0","canonical_sha256":"128c9c73615d44828a1e3924133b9f0340eb225a95d4a1679816e31f17f24dfb","source":{"kind":"arxiv","id":"2309.11689","version":1},"attestation_state":"computed","paper":{"title":"Task-Oriented Grasping with Point Cloud Representation of Objects","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aditya Patankar, Dasharadhan Mahalingam, IV Ramakrishnan, Khiem Phi, Nilanjan Chakraborty","submitted_at":"2023-09-20T23:45:14Z","abstract_excerpt":"In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during manipulation, and it is also ensured that adequate force/moment can be applied to perform the task. We formalize the notion of a gross manipulation task as a constant screw motion (or a sequence of constant screw motions) to be applied to the object after grasping. Using this notion of task, and a corresponding grasp quality metric developed in our prior wo"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2309.11689","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T23:45:14Z","cross_cats_sorted":[],"title_canon_sha256":"9512006ad98e16a6f1439d72d1d9e319b068a9efef2ed7dde8ca2ed8db7cf165","abstract_canon_sha256":"7a7f127127f78ddcbe36de08f1e67a767e3c4d10a35d2a2b6209d1277e8fe667"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:52:53.108843Z","signature_b64":"QXMg6+fWrVBdsE+BRZ+0Zm6/neHQIQPKCPNkALJ0cd1RisdAVz78K0C/L8dvyrfdtZ5mqZ8OUPlV7zmnlA6YCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"128c9c73615d44828a1e3924133b9f0340eb225a95d4a1679816e31f17f24dfb","last_reissued_at":"2026-07-05T06:52:53.108329Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:52:53.108329Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Task-Oriented Grasping with Point Cloud Representation of Objects","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aditya Patankar, Dasharadhan Mahalingam, IV Ramakrishnan, Khiem Phi, Nilanjan Chakraborty","submitted_at":"2023-09-20T23:45:14Z","abstract_excerpt":"In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during manipulation, and it is also ensured that adequate force/moment can be applied to perform the task. We formalize the notion of a gross manipulation task as a constant screw motion (or a sequence of constant screw motions) to be applied to the object after grasping. Using this notion of task, and a corresponding grasp quality metric developed in our prior wo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.11689","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/2309.11689/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2309.11689","created_at":"2026-07-05T06:52:53.108394+00:00"},{"alias_kind":"arxiv_version","alias_value":"2309.11689v1","created_at":"2026-07-05T06:52:53.108394+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.11689","created_at":"2026-07-05T06:52:53.108394+00:00"},{"alias_kind":"pith_short_12","alias_value":"CKGJY43BLVCI","created_at":"2026-07-05T06:52:53.108394+00:00"},{"alias_kind":"pith_short_16","alias_value":"CKGJY43BLVCIFCQ6","created_at":"2026-07-05T06:52:53.108394+00:00"},{"alias_kind":"pith_short_8","alias_value":"CKGJY43B","created_at":"2026-07-05T06:52:53.108394+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN","json":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN.json","graph_json":"https://pith.science/api/pith-number/CKGJY43BLVCIFCQ6HESBGO47AN/graph.json","events_json":"https://pith.science/api/pith-number/CKGJY43BLVCIFCQ6HESBGO47AN/events.json","paper":"https://pith.science/paper/CKGJY43B"},"agent_actions":{"view_html":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN","download_json":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN.json","view_paper":"https://pith.science/paper/CKGJY43B","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2309.11689&json=true","fetch_graph":"https://pith.science/api/pith-number/CKGJY43BLVCIFCQ6HESBGO47AN/graph.json","fetch_events":"https://pith.science/api/pith-number/CKGJY43BLVCIFCQ6HESBGO47AN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN/action/storage_attestation","attest_author":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN/action/author_attestation","sign_citation":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN/action/citation_signature","submit_replication":"https://pith.science/pith/CKGJY43BLVCIFCQ6HESBGO47AN/action/replication_record"}},"created_at":"2026-07-05T06:52:53.108394+00:00","updated_at":"2026-07-05T06:52:53.108394+00:00"}