{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GUGELNEEAXMWZGPQWPFCJQEPC7","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":"054a1be59db0a90041851b4ad64c2c27a5b808c1d31456a6c3e06d617c4bf88a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T15:30:00Z","title_canon_sha256":"01a87a4869b9a8801acf74e41bb079a4a724a1b1dbb29f7356f27a2b7671069b"},"schema_version":"1.0","source":{"id":"2606.18053","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.18053","created_at":"2026-06-19T16:10:47Z"},{"alias_kind":"arxiv_version","alias_value":"2606.18053v1","created_at":"2026-06-19T16:10:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.18053","created_at":"2026-06-19T16:10:47Z"},{"alias_kind":"pith_short_12","alias_value":"GUGELNEEAXMW","created_at":"2026-06-19T16:10:47Z"},{"alias_kind":"pith_short_16","alias_value":"GUGELNEEAXMWZGPQ","created_at":"2026-06-19T16:10:47Z"},{"alias_kind":"pith_short_8","alias_value":"GUGELNEE","created_at":"2026-06-19T16:10:47Z"}],"graph_snapshots":[{"event_id":"sha256:f8305904e799cf476369a240b8bbd518740cb4204ee668b240a535c7b00a41bc","target":"graph","created_at":"2026-06-19T16:10:47Z","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/2606.18053/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a hybrid grasp synthesis framework that combines a learning-based Energy-Based Model (EBM) with an analytical Iterative Closest Point (ICP) method to generate robust grasps from partially observed point clouds. The learned energy function acts as a prior within a Stein Variational Gradient Descent (SVGD) framework, guiding iterative refinement of grasp configurations. Evaluated on 67 objects with 5,360 grasp attempts, our method achieves an average success rate of 60.9\\%, outperforming AnyGrasp (31.1\\%) and Grasp Pose Detection (48.4\\%) and AS-ICP (56.6\\%). These results highlight t","authors_text":"Fabio Ramos, Fahira Afzal Maken, Tin Lai, Wenzheng Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T15:30:00Z","title":"A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.18053","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":"sha256:31451aa7705c100142925db66f6ccb8e70299744399169ea360f21569125b971","target":"record","created_at":"2026-06-19T16:10:47Z","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":"054a1be59db0a90041851b4ad64c2c27a5b808c1d31456a6c3e06d617c4bf88a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T15:30:00Z","title_canon_sha256":"01a87a4869b9a8801acf74e41bb079a4a724a1b1dbb29f7356f27a2b7671069b"},"schema_version":"1.0","source":{"id":"2606.18053","kind":"arxiv","version":1}},"canonical_sha256":"350c45b48405d96c99f0b3ca24c08f17f24d48f7dac8a3603caa521091209127","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"350c45b48405d96c99f0b3ca24c08f17f24d48f7dac8a3603caa521091209127","first_computed_at":"2026-06-19T16:10:47.133725Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:10:47.133725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KzhX0+H48kkNWrevi54sZLtPq220AxWnfdk4A72K1EcTuoWXOSUsKv9rhniKfyo0AeILVkmzNiiI3O85v+qGBA==","signature_status":"signed_v1","signed_at":"2026-06-19T16:10:47.134085Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.18053","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:31451aa7705c100142925db66f6ccb8e70299744399169ea360f21569125b971","sha256:f8305904e799cf476369a240b8bbd518740cb4204ee668b240a535c7b00a41bc"],"state_sha256":"855c50d6a45d1c215a6346f31206aefc6efbd3680b6dd755676b8ac64953dc19"}