{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:FXF5LZLGU77OIRZGNW27ZTPZL2","short_pith_number":"pith:FXF5LZLG","schema_version":"1.0","canonical_sha256":"2dcbd5e566a7fee447266db5fccdf95e95acc8f5ea5e9b28e146cc7247395a01","source":{"kind":"arxiv","id":"2311.05779","version":1},"attestation_state":"computed","paper":{"title":"Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Arushi Goel, Georgios Tziafas, Hamidreza Kasaei, Mohammadreza Kasaei, Yucheng Xu, Zhibin Li","submitted_at":"2023-11-09T22:55:10Z","abstract_excerpt":"Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis, which predicts a grasp pose for an object referred through natural language in cluttered scenes. Existing approaches often employ multi-stage pipelines that first segment the referred object and then propose a suitable grasp, and are evaluated in private datasets or simulators that do not capture the complexity of natural indoor scenes. To address these limit"},"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":"2311.05779","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-11-09T22:55:10Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5dee5c0439c7452e84d0e0faf77dc63d6ae329b4f4145de9aa9d04cac565b53c","abstract_canon_sha256":"c8cf76ea0c32d947ac50c964dedf606016b527ba5bf75fbfbb822c3a04df9eae"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:11:22.753858Z","signature_b64":"txRNO3mh1vu8vZDFi2dGFcOpU7SkVidxeL+UYkI3VGi9/Y3SWep17YfN42NWDG/6PjzzHPSp9Vjj3bA8/SLFDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2dcbd5e566a7fee447266db5fccdf95e95acc8f5ea5e9b28e146cc7247395a01","last_reissued_at":"2026-07-05T07:11:22.753417Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:11:22.753417Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Arushi Goel, Georgios Tziafas, Hamidreza Kasaei, Mohammadreza Kasaei, Yucheng Xu, Zhibin Li","submitted_at":"2023-11-09T22:55:10Z","abstract_excerpt":"Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis, which predicts a grasp pose for an object referred through natural language in cluttered scenes. Existing approaches often employ multi-stage pipelines that first segment the referred object and then propose a suitable grasp, and are evaluated in private datasets or simulators that do not capture the complexity of natural indoor scenes. To address these limit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.05779","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/2311.05779/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":"2311.05779","created_at":"2026-07-05T07:11:22.753489+00:00"},{"alias_kind":"arxiv_version","alias_value":"2311.05779v1","created_at":"2026-07-05T07:11:22.753489+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.05779","created_at":"2026-07-05T07:11:22.753489+00:00"},{"alias_kind":"pith_short_12","alias_value":"FXF5LZLGU77O","created_at":"2026-07-05T07:11:22.753489+00:00"},{"alias_kind":"pith_short_16","alias_value":"FXF5LZLGU77OIRZG","created_at":"2026-07-05T07:11:22.753489+00:00"},{"alias_kind":"pith_short_8","alias_value":"FXF5LZLG","created_at":"2026-07-05T07:11:22.753489+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/FXF5LZLGU77OIRZGNW27ZTPZL2","json":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2.json","graph_json":"https://pith.science/api/pith-number/FXF5LZLGU77OIRZGNW27ZTPZL2/graph.json","events_json":"https://pith.science/api/pith-number/FXF5LZLGU77OIRZGNW27ZTPZL2/events.json","paper":"https://pith.science/paper/FXF5LZLG"},"agent_actions":{"view_html":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2","download_json":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2.json","view_paper":"https://pith.science/paper/FXF5LZLG","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2311.05779&json=true","fetch_graph":"https://pith.science/api/pith-number/FXF5LZLGU77OIRZGNW27ZTPZL2/graph.json","fetch_events":"https://pith.science/api/pith-number/FXF5LZLGU77OIRZGNW27ZTPZL2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2/action/storage_attestation","attest_author":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2/action/author_attestation","sign_citation":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2/action/citation_signature","submit_replication":"https://pith.science/pith/FXF5LZLGU77OIRZGNW27ZTPZL2/action/replication_record"}},"created_at":"2026-07-05T07:11:22.753489+00:00","updated_at":"2026-07-05T07:11:22.753489+00:00"}