{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:JT3HG74MWWM3VLUREQIIH4IUUF","short_pith_number":"pith:JT3HG74M","canonical_record":{"source":{"id":"2508.00354","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T06:36:19Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"97a7720659506664119cc40486555ec439bb0ade881781bdc680063920a51e5c","abstract_canon_sha256":"c851cd9c6263768cd9395b3abbe232669cd0b43f0512982c10f8674f1a678662"},"schema_version":"1.0"},"canonical_sha256":"4cf6737f8cb599baae91241083f114a1579202cd756af1090aa4a42bb6861722","source":{"kind":"arxiv","id":"2508.00354","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.00354","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"arxiv_version","alias_value":"2508.00354v1","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.00354","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_12","alias_value":"JT3HG74MWWM3","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_16","alias_value":"JT3HG74MWWM3VLUR","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_8","alias_value":"JT3HG74M","created_at":"2026-07-05T11:46:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:JT3HG74MWWM3VLUREQIIH4IUUF","target":"record","payload":{"canonical_record":{"source":{"id":"2508.00354","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T06:36:19Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"97a7720659506664119cc40486555ec439bb0ade881781bdc680063920a51e5c","abstract_canon_sha256":"c851cd9c6263768cd9395b3abbe232669cd0b43f0512982c10f8674f1a678662"},"schema_version":"1.0"},"canonical_sha256":"4cf6737f8cb599baae91241083f114a1579202cd756af1090aa4a42bb6861722","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:46:54.022046Z","signature_b64":"8RmaDYdbZM59TdwcbXDhSk5pQub2o//hhpzhtW3vzxKMuzxbCKYUFGp64GkFCOqbLgNUbrg8I/8OhDt6PyMJBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4cf6737f8cb599baae91241083f114a1579202cd756af1090aa4a42bb6861722","last_reissued_at":"2026-07-05T11:46:54.021551Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:46:54.021551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.00354","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":"2026-07-05T11:46:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7t8n5wNjtgbeJk2tx0kaPuggVCAPKhwQwU2x8Mo4PYOY/y3Qaw06mfK1oX74qNHA/hMILDUY3ie8q/BYYtq5Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:19:09.152520Z"},"content_sha256":"4a67240ab4bc5c0c49a858433b94f7643f195164798b68166724241f3e913ae9","schema_version":"1.0","event_id":"sha256:4a67240ab4bc5c0c49a858433b94f7643f195164798b68166724241f3e913ae9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:JT3HG74MWWM3VLUREQIIH4IUUF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Chung Min Kim, Hiya Shah, Justin Kerr, Karim El-Refai, Ken Goldberg, Tianshuang Qiu, Zehan Ma","submitted_at":"2025-08-01T06:36:19Z","abstract_excerpt":"3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such \"digital twins\" are useful for simulations, virtual reality, marketing, robot policy fine-tuning, and part inspection. 3D object scanning usually requires multi-camera arrays, precise laser scanners, or robot wrist-mounted cameras, which have restricted workspaces. We propose Omni-Scan, a pipeline for producing high-quality 3D Gaussian Splat models using a bi-manual robot that grasps an object with one gripper and rotates the object with respect to a stationary camera. The object is then re-grasped by a second"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.00354","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/2508.00354/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":"2026-07-05T11:46:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"y1J5avWr+NkBsnE26UkxfSNow2m/AmShLMedcC7TogvwEMQvB1ki1B86AiJpwYspj6dLsjhU90tEcSiHM2moDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:19:09.152895Z"},"content_sha256":"109868fba591f19782866d50d724240ef09470342cf7c8c79402de74d9fbd022","schema_version":"1.0","event_id":"sha256:109868fba591f19782866d50d724240ef09470342cf7c8c79402de74d9fbd022"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JT3HG74MWWM3VLUREQIIH4IUUF/bundle.json","state_url":"https://pith.science/pith/JT3HG74MWWM3VLUREQIIH4IUUF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JT3HG74MWWM3VLUREQIIH4IUUF/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":"2026-07-06T16:19:09Z","links":{"resolver":"https://pith.science/pith/JT3HG74MWWM3VLUREQIIH4IUUF","bundle":"https://pith.science/pith/JT3HG74MWWM3VLUREQIIH4IUUF/bundle.json","state":"https://pith.science/pith/JT3HG74MWWM3VLUREQIIH4IUUF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JT3HG74MWWM3VLUREQIIH4IUUF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:JT3HG74MWWM3VLUREQIIH4IUUF","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":"c851cd9c6263768cd9395b3abbe232669cd0b43f0512982c10f8674f1a678662","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T06:36:19Z","title_canon_sha256":"97a7720659506664119cc40486555ec439bb0ade881781bdc680063920a51e5c"},"schema_version":"1.0","source":{"id":"2508.00354","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.00354","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"arxiv_version","alias_value":"2508.00354v1","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.00354","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_12","alias_value":"JT3HG74MWWM3","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_16","alias_value":"JT3HG74MWWM3VLUR","created_at":"2026-07-05T11:46:54Z"},{"alias_kind":"pith_short_8","alias_value":"JT3HG74M","created_at":"2026-07-05T11:46:54Z"}],"graph_snapshots":[{"event_id":"sha256:109868fba591f19782866d50d724240ef09470342cf7c8c79402de74d9fbd022","target":"graph","created_at":"2026-07-05T11:46:54Z","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/2508.00354/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such \"digital twins\" are useful for simulations, virtual reality, marketing, robot policy fine-tuning, and part inspection. 3D object scanning usually requires multi-camera arrays, precise laser scanners, or robot wrist-mounted cameras, which have restricted workspaces. We propose Omni-Scan, a pipeline for producing high-quality 3D Gaussian Splat models using a bi-manual robot that grasps an object with one gripper and rotates the object with respect to a stationary camera. The object is then re-grasped by a second","authors_text":"Chung Min Kim, Hiya Shah, Justin Kerr, Karim El-Refai, Ken Goldberg, Tianshuang Qiu, Zehan Ma","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T06:36:19Z","title":"Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.00354","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":"sha256:4a67240ab4bc5c0c49a858433b94f7643f195164798b68166724241f3e913ae9","target":"record","created_at":"2026-07-05T11:46:54Z","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":"c851cd9c6263768cd9395b3abbe232669cd0b43f0512982c10f8674f1a678662","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-01T06:36:19Z","title_canon_sha256":"97a7720659506664119cc40486555ec439bb0ade881781bdc680063920a51e5c"},"schema_version":"1.0","source":{"id":"2508.00354","kind":"arxiv","version":1}},"canonical_sha256":"4cf6737f8cb599baae91241083f114a1579202cd756af1090aa4a42bb6861722","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4cf6737f8cb599baae91241083f114a1579202cd756af1090aa4a42bb6861722","first_computed_at":"2026-07-05T11:46:54.021551Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:46:54.021551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8RmaDYdbZM59TdwcbXDhSk5pQub2o//hhpzhtW3vzxKMuzxbCKYUFGp64GkFCOqbLgNUbrg8I/8OhDt6PyMJBg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:46:54.022046Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.00354","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4a67240ab4bc5c0c49a858433b94f7643f195164798b68166724241f3e913ae9","sha256:109868fba591f19782866d50d724240ef09470342cf7c8c79402de74d9fbd022"],"state_sha256":"775cef085a7bdc7c76976f31e98f3084bd326e9e13e306a80d90e2caa543dbda"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/h4Pd7ZegixGPqfhuP3NJED39eJORfComcJZUyaPumnNuJSVtlzNAHiivwPwppoMb0I9si+qNlw5vlGD7fqfBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:19:09.154887Z","bundle_sha256":"256b55c81e9febdd4a05858d0311d8ff0c1deae62b2c04a2c6dfde0dd714c933"}}