{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:FAYYPLWDUR4EOHC4PYUN5FAQOA","short_pith_number":"pith:FAYYPLWD","canonical_record":{"source":{"id":"2403.13336","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-20T06:42:12Z","cross_cats_sorted":[],"title_canon_sha256":"8e84031b0e492ac5bf2ad71a6dafee67bc53848131173b214221545f5847a2fe","abstract_canon_sha256":"fd9d987786f3afc7ca034c509d1e24ba32473c9d5498b985c070145e4287be87"},"schema_version":"1.0"},"canonical_sha256":"283187aec3a478471c5c7e28de94107020fa91c82daf7c128ae2e3578fc82bb8","source":{"kind":"arxiv","id":"2403.13336","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.13336","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.13336v1","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.13336","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_12","alias_value":"FAYYPLWDUR4E","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_16","alias_value":"FAYYPLWDUR4EOHC4","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_8","alias_value":"FAYYPLWD","created_at":"2026-07-05T07:58:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:FAYYPLWDUR4EOHC4PYUN5FAQOA","target":"record","payload":{"canonical_record":{"source":{"id":"2403.13336","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-20T06:42:12Z","cross_cats_sorted":[],"title_canon_sha256":"8e84031b0e492ac5bf2ad71a6dafee67bc53848131173b214221545f5847a2fe","abstract_canon_sha256":"fd9d987786f3afc7ca034c509d1e24ba32473c9d5498b985c070145e4287be87"},"schema_version":"1.0"},"canonical_sha256":"283187aec3a478471c5c7e28de94107020fa91c82daf7c128ae2e3578fc82bb8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:58:34.941418Z","signature_b64":"H/Troj90gWGe4JiqE8ZX1/zKAiS+pb5W9GvU6d65QKm2Gs045LgTBXO54zIYs9o060JVvDkWBUJc6dghHUGiCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"283187aec3a478471c5c7e28de94107020fa91c82daf7c128ae2e3578fc82bb8","last_reissued_at":"2026-07-05T07:58:34.940925Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:58:34.940925Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.13336","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":"2026-07-05T07:58:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BL0ULm57G0bZ3j43f8FQsNlWPO/7aU3/hO+t9nxesy4TpgFQjesj6dZaGHcU7DVNHJN7uPuKWsp0HxXD41V5CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:35:08.032151Z"},"content_sha256":"9d858e3a1cbb61f9b6cf0039bbda1897fe853a18d4059a0143caee794258526d","schema_version":"1.0","event_id":"sha256:9d858e3a1cbb61f9b6cf0039bbda1897fe853a18d4059a0143caee794258526d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:FAYYPLWDUR4EOHC4PYUN5FAQOA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Discretizing SO(2)-Equivariant Features for Robotic Kitting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Huixu Dong, I-Ming Chen, Jiadong Zhou, Yadan Zeng","submitted_at":"2024-03-20T06:42:12Z","abstract_excerpt":"Robotic kitting has attracted considerable attention in logistics and industrial settings. However, existing kitting methods encounter challenges such as low precision and poor efficiency, limiting their widespread applications. To address these issues, we present a novel kitting framework that improves both the precision and computational efficiency of complex kitting tasks. Firstly, our approach introduces a fine-grained orientation estimation technique in the picking module, significantly enhancing orientation precision while effectively decoupling computational load from orientation granul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.13336","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/2403.13336/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":"2026-07-05T07:58:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pjUyjCJavjiKPqkL9KK6q95inOCMkTdk5EyFLNvLFZWXfW/a4eJRwmwlcGt2nZD96XAORmWgdRgkKsoVzsyCDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:35:08.032538Z"},"content_sha256":"2de7e7ec69a3dcc41441e2566b795994c2faf667c675037d519c9b475db579d5","schema_version":"1.0","event_id":"sha256:2de7e7ec69a3dcc41441e2566b795994c2faf667c675037d519c9b475db579d5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/bundle.json","state_url":"https://pith.science/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/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":"2026-07-06T15:35:08Z","links":{"resolver":"https://pith.science/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA","bundle":"https://pith.science/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/bundle.json","state":"https://pith.science/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FAYYPLWDUR4EOHC4PYUN5FAQOA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:FAYYPLWDUR4EOHC4PYUN5FAQOA","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":"fd9d987786f3afc7ca034c509d1e24ba32473c9d5498b985c070145e4287be87","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-20T06:42:12Z","title_canon_sha256":"8e84031b0e492ac5bf2ad71a6dafee67bc53848131173b214221545f5847a2fe"},"schema_version":"1.0","source":{"id":"2403.13336","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.13336","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.13336v1","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.13336","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_12","alias_value":"FAYYPLWDUR4E","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_16","alias_value":"FAYYPLWDUR4EOHC4","created_at":"2026-07-05T07:58:34Z"},{"alias_kind":"pith_short_8","alias_value":"FAYYPLWD","created_at":"2026-07-05T07:58:34Z"}],"graph_snapshots":[{"event_id":"sha256:2de7e7ec69a3dcc41441e2566b795994c2faf667c675037d519c9b475db579d5","target":"graph","created_at":"2026-07-05T07:58:34Z","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/2403.13336/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic kitting has attracted considerable attention in logistics and industrial settings. However, existing kitting methods encounter challenges such as low precision and poor efficiency, limiting their widespread applications. To address these issues, we present a novel kitting framework that improves both the precision and computational efficiency of complex kitting tasks. Firstly, our approach introduces a fine-grained orientation estimation technique in the picking module, significantly enhancing orientation precision while effectively decoupling computational load from orientation granul","authors_text":"Huixu Dong, I-Ming Chen, Jiadong Zhou, Yadan Zeng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-20T06:42:12Z","title":"Discretizing SO(2)-Equivariant Features for Robotic Kitting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.13336","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":"sha256:9d858e3a1cbb61f9b6cf0039bbda1897fe853a18d4059a0143caee794258526d","target":"record","created_at":"2026-07-05T07:58:34Z","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":"fd9d987786f3afc7ca034c509d1e24ba32473c9d5498b985c070145e4287be87","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-20T06:42:12Z","title_canon_sha256":"8e84031b0e492ac5bf2ad71a6dafee67bc53848131173b214221545f5847a2fe"},"schema_version":"1.0","source":{"id":"2403.13336","kind":"arxiv","version":1}},"canonical_sha256":"283187aec3a478471c5c7e28de94107020fa91c82daf7c128ae2e3578fc82bb8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"283187aec3a478471c5c7e28de94107020fa91c82daf7c128ae2e3578fc82bb8","first_computed_at":"2026-07-05T07:58:34.940925Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:58:34.940925Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H/Troj90gWGe4JiqE8ZX1/zKAiS+pb5W9GvU6d65QKm2Gs045LgTBXO54zIYs9o060JVvDkWBUJc6dghHUGiCA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:58:34.941418Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.13336","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9d858e3a1cbb61f9b6cf0039bbda1897fe853a18d4059a0143caee794258526d","sha256:2de7e7ec69a3dcc41441e2566b795994c2faf667c675037d519c9b475db579d5"],"state_sha256":"ff9b06b8bc15baeb45950d1090fb1d646c7338f3ef6c0540e3fac05dcc8ee0a1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8uMJ/I/cA8XQFSgMqw0eTrSrcnPXRKfzPlApA4TsrMcI2RGhqCFMqCMRNnpwwordUkQnoWL7tVEmWLDHOl9yCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T15:35:08.034566Z","bundle_sha256":"bf85ccb2d469729bbb7bf4c1454f3fdf07586116ffc3cbfc0f892269c178ed5b"}}