{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:HCFCJKLVTKSULPPXGULFQQHZBH","short_pith_number":"pith:HCFCJKLV","canonical_record":{"source":{"id":"1505.00241","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-01T18:37:16Z","cross_cats_sorted":[],"title_canon_sha256":"e588f18c540544b3aceeed22741553ddec4d18793ae6852082516168a2ad7960","abstract_canon_sha256":"1fd4e0e4ce1baf0fa6a064aed003435ed029cb57a55bb5be53b0ed6c073a6212"},"schema_version":"1.0"},"canonical_sha256":"388a24a9759aa545bdf735165840f909dc33d5a784c8e7c67f830e8d488a8d13","source":{"kind":"arxiv","id":"1505.00241","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.00241","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"arxiv_version","alias_value":"1505.00241v1","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.00241","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"pith_short_12","alias_value":"HCFCJKLVTKSU","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"HCFCJKLVTKSULPPX","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"HCFCJKLV","created_at":"2026-05-18T12:29:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:HCFCJKLVTKSULPPXGULFQQHZBH","target":"record","payload":{"canonical_record":{"source":{"id":"1505.00241","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-01T18:37:16Z","cross_cats_sorted":[],"title_canon_sha256":"e588f18c540544b3aceeed22741553ddec4d18793ae6852082516168a2ad7960","abstract_canon_sha256":"1fd4e0e4ce1baf0fa6a064aed003435ed029cb57a55bb5be53b0ed6c073a6212"},"schema_version":"1.0"},"canonical_sha256":"388a24a9759aa545bdf735165840f909dc33d5a784c8e7c67f830e8d488a8d13","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:17:12.999002Z","signature_b64":"Q9pa3HEiYvB8WrPsMTGkZ+o2j1bgB4nmE1ATonMAO5GBhQyAO/LL92cf+9jB4zOIvWF0y4piQToj4ektHiu8Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"388a24a9759aa545bdf735165840f909dc33d5a784c8e7c67f830e8d488a8d13","last_reissued_at":"2026-05-18T02:17:12.998204Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:17:12.998204Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1505.00241","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":"2026-05-18T02:17:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xFnlOt/ZgWLNKhxm69ZqrQ33lRgo8jVjQUEQI71bqHGQdnZTL7XpLFaYK/lrhwbFt90Osq2/Fy/iGHMYawwRBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T18:07:13.629152Z"},"content_sha256":"0515743952eafefbeb4eb4b6628ecaeeb0dfa36f707a0e6a4f836442183566cd","schema_version":"1.0","event_id":"sha256:0515743952eafefbeb4eb4b6628ecaeeb0dfa36f707a0e6a4f836442183566cd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:HCFCJKLVTKSULPPXGULFQQHZBH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Probabilistic Object Tracking using a Range Camera","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jeannette Bohg, Manuel W\\\"uthrich, Mrinal Kalakrishnan, Peter Pastor, Stefan Schaal","submitted_at":"2015-05-01T18:37:16Z","abstract_excerpt":"We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose. Depending on whether a robot or a human manipulates the object, we employ a process model with or without knowledge of control inputs. Observations are obtained from a range camera. As opposed to previous object tracking methods, we explicitly model self-occlusions and occlusions from the environment, e.g, the human or robotic hand. This leads to a strongly no"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.00241","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":""},"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":"2026-05-18T02:17:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TM6oB7EmbRiyTzn9YYSspj+igS3hcRIn7sevMk0go53JTqqQkK0Vq74tBSb2sL0RCpHVFQLc9iTiWYD7yDDxAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T18:07:13.629876Z"},"content_sha256":"edabd5c1200abb35bebb70b96b733aefbd0e548dbca82e10e9ce1817f450c33a","schema_version":"1.0","event_id":"sha256:edabd5c1200abb35bebb70b96b733aefbd0e548dbca82e10e9ce1817f450c33a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HCFCJKLVTKSULPPXGULFQQHZBH/bundle.json","state_url":"https://pith.science/pith/HCFCJKLVTKSULPPXGULFQQHZBH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HCFCJKLVTKSULPPXGULFQQHZBH/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":"2026-05-27T18:07:13Z","links":{"resolver":"https://pith.science/pith/HCFCJKLVTKSULPPXGULFQQHZBH","bundle":"https://pith.science/pith/HCFCJKLVTKSULPPXGULFQQHZBH/bundle.json","state":"https://pith.science/pith/HCFCJKLVTKSULPPXGULFQQHZBH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HCFCJKLVTKSULPPXGULFQQHZBH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:HCFCJKLVTKSULPPXGULFQQHZBH","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":"1fd4e0e4ce1baf0fa6a064aed003435ed029cb57a55bb5be53b0ed6c073a6212","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-01T18:37:16Z","title_canon_sha256":"e588f18c540544b3aceeed22741553ddec4d18793ae6852082516168a2ad7960"},"schema_version":"1.0","source":{"id":"1505.00241","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.00241","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"arxiv_version","alias_value":"1505.00241v1","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.00241","created_at":"2026-05-18T02:17:12Z"},{"alias_kind":"pith_short_12","alias_value":"HCFCJKLVTKSU","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"HCFCJKLVTKSULPPX","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"HCFCJKLV","created_at":"2026-05-18T12:29:22Z"}],"graph_snapshots":[{"event_id":"sha256:edabd5c1200abb35bebb70b96b733aefbd0e548dbca82e10e9ce1817f450c33a","target":"graph","created_at":"2026-05-18T02:17:12Z","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"},"paper":{"abstract_excerpt":"We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose. Depending on whether a robot or a human manipulates the object, we employ a process model with or without knowledge of control inputs. Observations are obtained from a range camera. As opposed to previous object tracking methods, we explicitly model self-occlusions and occlusions from the environment, e.g, the human or robotic hand. This leads to a strongly no","authors_text":"Jeannette Bohg, Manuel W\\\"uthrich, Mrinal Kalakrishnan, Peter Pastor, Stefan Schaal","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-01T18:37:16Z","title":"Probabilistic Object Tracking using a Range Camera"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.00241","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":"sha256:0515743952eafefbeb4eb4b6628ecaeeb0dfa36f707a0e6a4f836442183566cd","target":"record","created_at":"2026-05-18T02:17:12Z","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":"1fd4e0e4ce1baf0fa6a064aed003435ed029cb57a55bb5be53b0ed6c073a6212","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-01T18:37:16Z","title_canon_sha256":"e588f18c540544b3aceeed22741553ddec4d18793ae6852082516168a2ad7960"},"schema_version":"1.0","source":{"id":"1505.00241","kind":"arxiv","version":1}},"canonical_sha256":"388a24a9759aa545bdf735165840f909dc33d5a784c8e7c67f830e8d488a8d13","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"388a24a9759aa545bdf735165840f909dc33d5a784c8e7c67f830e8d488a8d13","first_computed_at":"2026-05-18T02:17:12.998204Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:17:12.998204Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Q9pa3HEiYvB8WrPsMTGkZ+o2j1bgB4nmE1ATonMAO5GBhQyAO/LL92cf+9jB4zOIvWF0y4piQToj4ektHiu8Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T02:17:12.999002Z","signed_message":"canonical_sha256_bytes"},"source_id":"1505.00241","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0515743952eafefbeb4eb4b6628ecaeeb0dfa36f707a0e6a4f836442183566cd","sha256:edabd5c1200abb35bebb70b96b733aefbd0e548dbca82e10e9ce1817f450c33a"],"state_sha256":"01a0fe6f51c14d537155bc10683e4e8036f7f2f5d220f498f4eddb4882172bc6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/sIJiJ0T4Txj04oFA+zUjBrabRvJk1FnAOz8l+moumys4vdBXJy5YtR4Ga+lluL5Rc9FL/jkJJSLq0r77Uf3CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T18:07:13.633291Z","bundle_sha256":"8b10aa9bc3b93a3cb6be7517533719f968bd932e821ff2bbc07db6d5248bbf7f"}}