{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KNDIA5R2LDSHXELGKU4UQ7GGHD","short_pith_number":"pith:KNDIA5R2","canonical_record":{"source":{"id":"2401.09133","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-17T11:15:09Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"87312cc264514c59f2a98efd9e0b1807c35d612431fe76dcfae471cc63d3dd3c","abstract_canon_sha256":"f2662d63f99e0046b65e8279c9d9f096492914d5a4f9a747007aa4e1b309f2f5"},"schema_version":"1.0"},"canonical_sha256":"534680763a58e47b91665539487cc638fc71a202f520602fa258bbb29eaf9134","source":{"kind":"arxiv","id":"2401.09133","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.09133","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"arxiv_version","alias_value":"2401.09133v1","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.09133","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_12","alias_value":"KNDIA5R2LDSH","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_16","alias_value":"KNDIA5R2LDSHXELG","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_8","alias_value":"KNDIA5R2","created_at":"2026-07-05T07:34:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KNDIA5R2LDSHXELGKU4UQ7GGHD","target":"record","payload":{"canonical_record":{"source":{"id":"2401.09133","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-17T11:15:09Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"87312cc264514c59f2a98efd9e0b1807c35d612431fe76dcfae471cc63d3dd3c","abstract_canon_sha256":"f2662d63f99e0046b65e8279c9d9f096492914d5a4f9a747007aa4e1b309f2f5"},"schema_version":"1.0"},"canonical_sha256":"534680763a58e47b91665539487cc638fc71a202f520602fa258bbb29eaf9134","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:34:39.977761Z","signature_b64":"/XniPbiXKczWvp2t18RhBKteaZjZpqcJvw/uZqYCzLum+hv7q4tj5PvMXTdLvTjsKRdl2VwXh7V6+B9RjyUwCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"534680763a58e47b91665539487cc638fc71a202f520602fa258bbb29eaf9134","last_reissued_at":"2026-07-05T07:34:39.977300Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:34:39.977300Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.09133","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":"2026-07-05T07:34:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r+wO3ZR3bag1oczohXE9M5yanbqXT17KqAQFGHQUiuQ+o12b9QBH03W/mgRTVsdypf4dc5CfEHV/ASBv2Uk+Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:19:10.984632Z"},"content_sha256":"e7cbb5d69ceaa01e00eaa20d0fbeab32e0c54b0df9f0986b0da778239f044f51","schema_version":"1.0","event_id":"sha256:e7cbb5d69ceaa01e00eaa20d0fbeab32e0c54b0df9f0986b0da778239f044f51"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KNDIA5R2LDSHXELGKU4UQ7GGHD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SM$^3$: Self-Supervised Multi-task Modeling with Multi-view 2D Images for Articulated Objects","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Haowen Wang, Jian Tang, Liang Qiao, Xiuquan Qiao, Yakun Huang, Zhao Jin, Zhengping Che, Zhen Zhao, Zhipeng Fan","submitted_at":"2024-01-17T11:15:09Z","abstract_excerpt":"Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated datasets to model articulated objects within limited categories. However, this approach falls short of effectively addressing the diversity present in the real world. To tackle this issue, we propose a self-supervised interaction perception method, referred to as SM$^3$, which leverages multi-view RGB images captured before and after interaction to model artic"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.09133","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/2401.09133/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":"2026-07-05T07:34:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L3Y+Ab00QzDVysga4/Jl1xlXvAa74h7UnS96NdUlqI2+ejGRecJeOcg7ZglPdDIOwfCFDERuPIDi09a/3/7cBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:19:10.985010Z"},"content_sha256":"cbc69ec88edfca0496c76328c848e01230b1116797ab8553cd0d81f0c751bf13","schema_version":"1.0","event_id":"sha256:cbc69ec88edfca0496c76328c848e01230b1116797ab8553cd0d81f0c751bf13"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/bundle.json","state_url":"https://pith.science/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/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":"2026-07-07T11:19:10Z","links":{"resolver":"https://pith.science/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD","bundle":"https://pith.science/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/bundle.json","state":"https://pith.science/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KNDIA5R2LDSHXELGKU4UQ7GGHD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KNDIA5R2LDSHXELGKU4UQ7GGHD","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":"f2662d63f99e0046b65e8279c9d9f096492914d5a4f9a747007aa4e1b309f2f5","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-17T11:15:09Z","title_canon_sha256":"87312cc264514c59f2a98efd9e0b1807c35d612431fe76dcfae471cc63d3dd3c"},"schema_version":"1.0","source":{"id":"2401.09133","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.09133","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"arxiv_version","alias_value":"2401.09133v1","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.09133","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_12","alias_value":"KNDIA5R2LDSH","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_16","alias_value":"KNDIA5R2LDSHXELG","created_at":"2026-07-05T07:34:39Z"},{"alias_kind":"pith_short_8","alias_value":"KNDIA5R2","created_at":"2026-07-05T07:34:39Z"}],"graph_snapshots":[{"event_id":"sha256:cbc69ec88edfca0496c76328c848e01230b1116797ab8553cd0d81f0c751bf13","target":"graph","created_at":"2026-07-05T07:34:39Z","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/2401.09133/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated datasets to model articulated objects within limited categories. However, this approach falls short of effectively addressing the diversity present in the real world. To tackle this issue, we propose a self-supervised interaction perception method, referred to as SM$^3$, which leverages multi-view RGB images captured before and after interaction to model artic","authors_text":"Haowen Wang, Jian Tang, Liang Qiao, Xiuquan Qiao, Yakun Huang, Zhao Jin, Zhengping Che, Zhen Zhao, Zhipeng Fan","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-17T11:15:09Z","title":"SM$^3$: Self-Supervised Multi-task Modeling with Multi-view 2D Images for Articulated Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.09133","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:e7cbb5d69ceaa01e00eaa20d0fbeab32e0c54b0df9f0986b0da778239f044f51","target":"record","created_at":"2026-07-05T07:34:39Z","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":"f2662d63f99e0046b65e8279c9d9f096492914d5a4f9a747007aa4e1b309f2f5","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-01-17T11:15:09Z","title_canon_sha256":"87312cc264514c59f2a98efd9e0b1807c35d612431fe76dcfae471cc63d3dd3c"},"schema_version":"1.0","source":{"id":"2401.09133","kind":"arxiv","version":1}},"canonical_sha256":"534680763a58e47b91665539487cc638fc71a202f520602fa258bbb29eaf9134","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"534680763a58e47b91665539487cc638fc71a202f520602fa258bbb29eaf9134","first_computed_at":"2026-07-05T07:34:39.977300Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:34:39.977300Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/XniPbiXKczWvp2t18RhBKteaZjZpqcJvw/uZqYCzLum+hv7q4tj5PvMXTdLvTjsKRdl2VwXh7V6+B9RjyUwCw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:34:39.977761Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.09133","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e7cbb5d69ceaa01e00eaa20d0fbeab32e0c54b0df9f0986b0da778239f044f51","sha256:cbc69ec88edfca0496c76328c848e01230b1116797ab8553cd0d81f0c751bf13"],"state_sha256":"e4d35e7fd8ae6cd1b9d2bc751cc3cc27968fac0909605ffacb8dd5fb6f04826c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nGzr3N1rrYOdnQhvSzJDNG8K441OaAETMfHMwSN3Qudln2DV6Kp9dyEZWKelt3cV7DyP37mUUXcPY6D9p+M2AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:19:10.986935Z","bundle_sha256":"e01b3c7d8c0b748c917da5ad7eac826de3b7c841ece97d01202f5918ba721f13"}}