{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:FTIFB54CTYNMEINFTKPP34LHJV","short_pith_number":"pith:FTIFB54C","canonical_record":{"source":{"id":"2411.14400","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T18:29:16Z","cross_cats_sorted":[],"title_canon_sha256":"0345e376997f09bfc8035f777f11a068806dc9014819edbb0a494734bcb2a0f1","abstract_canon_sha256":"e346b9ca2f648d87a5c7350f3576a31e04a40db64b287c63a00cbce8d169e946"},"schema_version":"1.0"},"canonical_sha256":"2cd050f7829e1ac221a59a9efdf1674d71c14c5c357f7e57e0d6e0df2c7c40fe","source":{"kind":"arxiv","id":"2411.14400","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.14400","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"arxiv_version","alias_value":"2411.14400v1","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.14400","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_12","alias_value":"FTIFB54CTYNM","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_16","alias_value":"FTIFB54CTYNMEINF","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_8","alias_value":"FTIFB54C","created_at":"2026-07-05T09:38:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:FTIFB54CTYNMEINFTKPP34LHJV","target":"record","payload":{"canonical_record":{"source":{"id":"2411.14400","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T18:29:16Z","cross_cats_sorted":[],"title_canon_sha256":"0345e376997f09bfc8035f777f11a068806dc9014819edbb0a494734bcb2a0f1","abstract_canon_sha256":"e346b9ca2f648d87a5c7350f3576a31e04a40db64b287c63a00cbce8d169e946"},"schema_version":"1.0"},"canonical_sha256":"2cd050f7829e1ac221a59a9efdf1674d71c14c5c357f7e57e0d6e0df2c7c40fe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:38:46.361546Z","signature_b64":"9a47mDJV+MhZK+WWJKKctN2zwSEN9Fld+mkoFUa678qF84hUOVGtJ8XMOGqCJfh8cr+KVvuW3m++QPsPEYigBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cd050f7829e1ac221a59a9efdf1674d71c14c5c357f7e57e0d6e0df2c7c40fe","last_reissued_at":"2026-07-05T09:38:46.361026Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:38:46.361026Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.14400","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":"2026-07-05T09:38:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mYzR/jaMr8A5Y6ToCoTT9Z40awtDPzRKxm9RVXAUeri6GuoEB7AbYOFNOZNxRJn8ClIAMnt4JyUYWVZPccPnBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T07:46:37.095126Z"},"content_sha256":"8fcf110a72d7e0f5e047abe028e51ef978ff29f7097bde9f02f8fc8b7660620b","schema_version":"1.0","event_id":"sha256:8fcf110a72d7e0f5e047abe028e51ef978ff29f7097bde9f02f8fc8b7660620b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:FTIFB54CTYNMEINFTKPP34LHJV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"23 DoF Grasping Policies from a Raw Point Cloud","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Karl Van Wyk, Martin Matak, Tucker Hermans","submitted_at":"2024-11-21T18:29:16Z","abstract_excerpt":"Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp trajectories from a partial point cloud provided by a single, fixed camera. At the core of the approach is a second-order geometric-based model of behavioral dynamics. This Neural Geometric Fabric (NGF) policy predicts accelerations directly in joint space. We show that our policy is capable of generalizing to novel objects, and combine our policy with a geometric "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.14400","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/2411.14400/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":"2026-07-05T09:38:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KPgXtOZy1DKa0UX6/LpVC5lgHy6zAO19TfNcHwxBQJqrCup0XHODD7GrYnki37V7Zq96z4/tcqZzvfLCqZcyDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T07:46:37.095659Z"},"content_sha256":"855a8b05931961cd9949795b5eda40d1c3d52b030b24312b87e85d0de2ab9fbc","schema_version":"1.0","event_id":"sha256:855a8b05931961cd9949795b5eda40d1c3d52b030b24312b87e85d0de2ab9fbc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FTIFB54CTYNMEINFTKPP34LHJV/bundle.json","state_url":"https://pith.science/pith/FTIFB54CTYNMEINFTKPP34LHJV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FTIFB54CTYNMEINFTKPP34LHJV/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":"2026-08-13T07:46:37Z","links":{"resolver":"https://pith.science/pith/FTIFB54CTYNMEINFTKPP34LHJV","bundle":"https://pith.science/pith/FTIFB54CTYNMEINFTKPP34LHJV/bundle.json","state":"https://pith.science/pith/FTIFB54CTYNMEINFTKPP34LHJV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FTIFB54CTYNMEINFTKPP34LHJV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:FTIFB54CTYNMEINFTKPP34LHJV","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":"e346b9ca2f648d87a5c7350f3576a31e04a40db64b287c63a00cbce8d169e946","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T18:29:16Z","title_canon_sha256":"0345e376997f09bfc8035f777f11a068806dc9014819edbb0a494734bcb2a0f1"},"schema_version":"1.0","source":{"id":"2411.14400","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.14400","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"arxiv_version","alias_value":"2411.14400v1","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.14400","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_12","alias_value":"FTIFB54CTYNM","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_16","alias_value":"FTIFB54CTYNMEINF","created_at":"2026-07-05T09:38:46Z"},{"alias_kind":"pith_short_8","alias_value":"FTIFB54C","created_at":"2026-07-05T09:38:46Z"}],"graph_snapshots":[{"event_id":"sha256:855a8b05931961cd9949795b5eda40d1c3d52b030b24312b87e85d0de2ab9fbc","target":"graph","created_at":"2026-07-05T09:38:46Z","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/2411.14400/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach to learn a policy that directly predicts 23 DoF grasp trajectories from a partial point cloud provided by a single, fixed camera. At the core of the approach is a second-order geometric-based model of behavioral dynamics. This Neural Geometric Fabric (NGF) policy predicts accelerations directly in joint space. We show that our policy is capable of generalizing to novel objects, and combine our policy with a geometric ","authors_text":"Karl Van Wyk, Martin Matak, Tucker Hermans","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T18:29:16Z","title":"23 DoF Grasping Policies from a Raw Point Cloud"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.14400","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":"sha256:8fcf110a72d7e0f5e047abe028e51ef978ff29f7097bde9f02f8fc8b7660620b","target":"record","created_at":"2026-07-05T09:38:46Z","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":"e346b9ca2f648d87a5c7350f3576a31e04a40db64b287c63a00cbce8d169e946","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T18:29:16Z","title_canon_sha256":"0345e376997f09bfc8035f777f11a068806dc9014819edbb0a494734bcb2a0f1"},"schema_version":"1.0","source":{"id":"2411.14400","kind":"arxiv","version":1}},"canonical_sha256":"2cd050f7829e1ac221a59a9efdf1674d71c14c5c357f7e57e0d6e0df2c7c40fe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cd050f7829e1ac221a59a9efdf1674d71c14c5c357f7e57e0d6e0df2c7c40fe","first_computed_at":"2026-07-05T09:38:46.361026Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:38:46.361026Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9a47mDJV+MhZK+WWJKKctN2zwSEN9Fld+mkoFUa678qF84hUOVGtJ8XMOGqCJfh8cr+KVvuW3m++QPsPEYigBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:38:46.361546Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.14400","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8fcf110a72d7e0f5e047abe028e51ef978ff29f7097bde9f02f8fc8b7660620b","sha256:855a8b05931961cd9949795b5eda40d1c3d52b030b24312b87e85d0de2ab9fbc"],"state_sha256":"d94cc6d0dc1a952b42b560edaeb4b029c8bdaf872010f54623811fd2716239d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pzVfrc3RpRA75pNLtZHBekoGxlsN3lf/jn2yEqlD4/SUHUhtjccmmzqVjvpIlzS/HSMJlq6VK4IXRRE5N1gXBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T07:46:37.099155Z","bundle_sha256":"c49f22120cbf1a9c4867190e2ddcfe124450cbc81ea71a428b9ef795a71f13a3"}}