{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KBWLZG2I6XL4CWBE5MQXUVXRGT","short_pith_number":"pith:KBWLZG2I","canonical_record":{"source":{"id":"2405.02241","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-03T16:52:01Z","cross_cats_sorted":[],"title_canon_sha256":"ff0c732b296f5f7007c77f808bb736151d39d28af0faeeb31231067dc75a8118","abstract_canon_sha256":"3bec50a45963d88d976d5874bcb1d63cf0b0b295b6443f35f61a9243667f609f"},"schema_version":"1.0"},"canonical_sha256":"506cbc9b48f5d7c15824eb217a56f134f5253cdff38c21c9a41a6a60459caf66","source":{"kind":"arxiv","id":"2405.02241","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.02241","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"arxiv_version","alias_value":"2405.02241v2","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.02241","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_12","alias_value":"KBWLZG2I6XL4","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_16","alias_value":"KBWLZG2I6XL4CWBE","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_8","alias_value":"KBWLZG2I","created_at":"2026-07-05T08:21:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KBWLZG2I6XL4CWBE5MQXUVXRGT","target":"record","payload":{"canonical_record":{"source":{"id":"2405.02241","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-03T16:52:01Z","cross_cats_sorted":[],"title_canon_sha256":"ff0c732b296f5f7007c77f808bb736151d39d28af0faeeb31231067dc75a8118","abstract_canon_sha256":"3bec50a45963d88d976d5874bcb1d63cf0b0b295b6443f35f61a9243667f609f"},"schema_version":"1.0"},"canonical_sha256":"506cbc9b48f5d7c15824eb217a56f134f5253cdff38c21c9a41a6a60459caf66","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:21:15.861951Z","signature_b64":"LpZUrltRp8p1LR9hV4V3PrEdEx8uvTd7hcJ4qzgzeHvuV0fAJ9deOUa2VUzcycHmWWRbu7sEaeAC42TtQD83Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"506cbc9b48f5d7c15824eb217a56f134f5253cdff38c21c9a41a6a60459caf66","last_reissued_at":"2026-07-05T08:21:15.861523Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:21:15.861523Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.02241","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:21:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KxqyeFye+UpYIi7jx7ZX7Q8hnX+ekhsi+62lXdzxFTLMyNQi6pnspQI4LBWEXiNdUS+C/zhimYj1Cze0DqjdBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T06:12:12.650812Z"},"content_sha256":"07c3b9df468b14a060c5325a8761dd820ad07518f94b3ddee2fd71af40e04efc","schema_version":"1.0","event_id":"sha256:07c3b9df468b14a060c5325a8761dd820ad07518f94b3ddee2fd71af40e04efc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KBWLZG2I6XL4CWBE5MQXUVXRGT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"WeightedPose: Generalizable Cross-Pose Estimation via Weighted SVD","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Harry Zhang, Heng Yu, Wenxing Deng, Xuxin Cheng","submitted_at":"2024-05-03T16:52:01Z","abstract_excerpt":"We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel observations directly into robot actions, often fail to effectively understand complex pose relationships and do not easily adapt to new object configurations. To overcome these issues, our method focuses on learning the 3D geometric relationships, particularly how critical parts of one object relate to those of another. We employ Weighted SVD in our standalone model "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.02241","kind":"arxiv","version":2},"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/2405.02241/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":"2026-07-05T08:21:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"libJ8EDn0Os04R686OVv/mlX53V909SHqEV0kOICAG+q0Q0/94005iSN42mbQsn92vqbuajqQhMPfAqerdb+Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T06:12:12.651716Z"},"content_sha256":"90c6e74e4710a39f1f30b01783737e9f6c7cf086ba81778516f3e0dc08a60fba","schema_version":"1.0","event_id":"sha256:90c6e74e4710a39f1f30b01783737e9f6c7cf086ba81778516f3e0dc08a60fba"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/bundle.json","state_url":"https://pith.science/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/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":"2026-08-04T06:12:12Z","links":{"resolver":"https://pith.science/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT","bundle":"https://pith.science/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/bundle.json","state":"https://pith.science/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KBWLZG2I6XL4CWBE5MQXUVXRGT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KBWLZG2I6XL4CWBE5MQXUVXRGT","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":"3bec50a45963d88d976d5874bcb1d63cf0b0b295b6443f35f61a9243667f609f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-03T16:52:01Z","title_canon_sha256":"ff0c732b296f5f7007c77f808bb736151d39d28af0faeeb31231067dc75a8118"},"schema_version":"1.0","source":{"id":"2405.02241","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.02241","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"arxiv_version","alias_value":"2405.02241v2","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.02241","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_12","alias_value":"KBWLZG2I6XL4","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_16","alias_value":"KBWLZG2I6XL4CWBE","created_at":"2026-07-05T08:21:15Z"},{"alias_kind":"pith_short_8","alias_value":"KBWLZG2I","created_at":"2026-07-05T08:21:15Z"}],"graph_snapshots":[{"event_id":"sha256:90c6e74e4710a39f1f30b01783737e9f6c7cf086ba81778516f3e0dc08a60fba","target":"graph","created_at":"2026-07-05T08:21:15Z","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/2405.02241/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel observations directly into robot actions, often fail to effectively understand complex pose relationships and do not easily adapt to new object configurations. To overcome these issues, our method focuses on learning the 3D geometric relationships, particularly how critical parts of one object relate to those of another. We employ Weighted SVD in our standalone model ","authors_text":"Harry Zhang, Heng Yu, Wenxing Deng, Xuxin Cheng","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-03T16:52:01Z","title":"WeightedPose: Generalizable Cross-Pose Estimation via Weighted SVD"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.02241","kind":"arxiv","version":2},"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":"sha256:07c3b9df468b14a060c5325a8761dd820ad07518f94b3ddee2fd71af40e04efc","target":"record","created_at":"2026-07-05T08:21:15Z","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":"3bec50a45963d88d976d5874bcb1d63cf0b0b295b6443f35f61a9243667f609f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-03T16:52:01Z","title_canon_sha256":"ff0c732b296f5f7007c77f808bb736151d39d28af0faeeb31231067dc75a8118"},"schema_version":"1.0","source":{"id":"2405.02241","kind":"arxiv","version":2}},"canonical_sha256":"506cbc9b48f5d7c15824eb217a56f134f5253cdff38c21c9a41a6a60459caf66","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"506cbc9b48f5d7c15824eb217a56f134f5253cdff38c21c9a41a6a60459caf66","first_computed_at":"2026-07-05T08:21:15.861523Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:21:15.861523Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LpZUrltRp8p1LR9hV4V3PrEdEx8uvTd7hcJ4qzgzeHvuV0fAJ9deOUa2VUzcycHmWWRbu7sEaeAC42TtQD83Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T08:21:15.861951Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.02241","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:07c3b9df468b14a060c5325a8761dd820ad07518f94b3ddee2fd71af40e04efc","sha256:90c6e74e4710a39f1f30b01783737e9f6c7cf086ba81778516f3e0dc08a60fba"],"state_sha256":"5faaeca43619b91f95a0aa935e8b18317a1f3b1ef1f39618805ef3ad7ae9222e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f165IqPM2999rZgQ4GttRcHYVpeO95x9yYCONeIOSKm4lzH2DciIMoMiw7q0dgWYhqHig58QrdJjgmn92UmRCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T06:12:12.658846Z","bundle_sha256":"d8751fa78db662955aa9d869b46cbb788b700272ed148589f921086c56c0b99d"}}