{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:L4VFYPUOYHT6PTLF2LDMJLJ3FK","short_pith_number":"pith:L4VFYPUO","canonical_record":{"source":{"id":"2204.04330","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-09T00:08:16Z","cross_cats_sorted":[],"title_canon_sha256":"dc370caa99dbd229d278339c4004826ca80bd98e71cec611b7fadb4108fa0910","abstract_canon_sha256":"c45ff3a89eba8d4c53f54b17bafad99458acc449d0bd227657bdbf2a7f188858"},"schema_version":"1.0"},"canonical_sha256":"5f2a5c3e8ec1e7e7cd65d2c6c4ad3b2abf2d34f4f9a5ef5402fa698086f1541f","source":{"kind":"arxiv","id":"2204.04330","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.04330","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"arxiv_version","alias_value":"2204.04330v1","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.04330","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_12","alias_value":"L4VFYPUOYHT6","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_16","alias_value":"L4VFYPUOYHT6PTLF","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_8","alias_value":"L4VFYPUO","created_at":"2026-07-05T04:12:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:L4VFYPUOYHT6PTLF2LDMJLJ3FK","target":"record","payload":{"canonical_record":{"source":{"id":"2204.04330","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-09T00:08:16Z","cross_cats_sorted":[],"title_canon_sha256":"dc370caa99dbd229d278339c4004826ca80bd98e71cec611b7fadb4108fa0910","abstract_canon_sha256":"c45ff3a89eba8d4c53f54b17bafad99458acc449d0bd227657bdbf2a7f188858"},"schema_version":"1.0"},"canonical_sha256":"5f2a5c3e8ec1e7e7cd65d2c6c4ad3b2abf2d34f4f9a5ef5402fa698086f1541f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:12:55.721536Z","signature_b64":"1Pymd238yDMdmIy4sE5UY2ekzpxJdbzPi8iL2MHU16TaO38NsZc5pJanB6OZW8a8logTHPyU7Bxhww8nEDcMCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5f2a5c3e8ec1e7e7cd65d2c6c4ad3b2abf2d34f4f9a5ef5402fa698086f1541f","last_reissued_at":"2026-07-05T04:12:55.721133Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:12:55.721133Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.04330","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":"2026-07-05T04:12:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iIKZ0c2mNGMHPL+6A1/q9a4PE7jjWZbixaIALA8PkBrPFA8Is1p68IOWWqTf4xsMokRBIeAOmzIaKoHVTGIvCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T09:03:00.087767Z"},"content_sha256":"53dc62894ebf8bdc4ddf6e163dbb00bee6f88c36c82fe805bd7ec9dbb90a0900","schema_version":"1.0","event_id":"sha256:53dc62894ebf8bdc4ddf6e163dbb00bee6f88c36c82fe805bd7ec9dbb90a0900"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:L4VFYPUOYHT6PTLF2LDMJLJ3FK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Improved Object Pose Estimation via Deep Pre-touch Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boling Yang, Joshua R. Smith, Patrick Lancaster","submitted_at":"2022-04-09T00:08:16Z","abstract_excerpt":"For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom robot arms that link the head to the end-effectors. We present a novel framework combining pre-touch sensing and deep learning to more accurately estimate pose in an efficient manner. The use of pre-touch sensing allows our method to localize the object directly with respect to the robot's end effector, thereby avoiding error caused by miscalibration of the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.04330","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/2204.04330/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":"2026-07-05T04:12:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8X3eGmxD497pehvD0jU2saLzSAM5qtlrJk3EB8ht0L9LkxpBsQum8adH368CGJGR6m1XhsqHyHYN/LOgCmjVDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T09:03:00.088298Z"},"content_sha256":"43eed0e2ea83545cf947eaba35620c7c732d98abfcedae8dcbe5253707b87a0a","schema_version":"1.0","event_id":"sha256:43eed0e2ea83545cf947eaba35620c7c732d98abfcedae8dcbe5253707b87a0a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/bundle.json","state_url":"https://pith.science/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/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":"2026-08-18T09:03:00Z","links":{"resolver":"https://pith.science/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK","bundle":"https://pith.science/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/bundle.json","state":"https://pith.science/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/L4VFYPUOYHT6PTLF2LDMJLJ3FK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:L4VFYPUOYHT6PTLF2LDMJLJ3FK","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":"c45ff3a89eba8d4c53f54b17bafad99458acc449d0bd227657bdbf2a7f188858","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-09T00:08:16Z","title_canon_sha256":"dc370caa99dbd229d278339c4004826ca80bd98e71cec611b7fadb4108fa0910"},"schema_version":"1.0","source":{"id":"2204.04330","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.04330","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"arxiv_version","alias_value":"2204.04330v1","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.04330","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_12","alias_value":"L4VFYPUOYHT6","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_16","alias_value":"L4VFYPUOYHT6PTLF","created_at":"2026-07-05T04:12:55Z"},{"alias_kind":"pith_short_8","alias_value":"L4VFYPUO","created_at":"2026-07-05T04:12:55Z"}],"graph_snapshots":[{"event_id":"sha256:43eed0e2ea83545cf947eaba35620c7c732d98abfcedae8dcbe5253707b87a0a","target":"graph","created_at":"2026-07-05T04:12:55Z","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/2204.04330/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom robot arms that link the head to the end-effectors. We present a novel framework combining pre-touch sensing and deep learning to more accurately estimate pose in an efficient manner. The use of pre-touch sensing allows our method to localize the object directly with respect to the robot's end effector, thereby avoiding error caused by miscalibration of the ","authors_text":"Boling Yang, Joshua R. Smith, Patrick Lancaster","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-09T00:08:16Z","title":"Improved Object Pose Estimation via Deep Pre-touch Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.04330","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":"sha256:53dc62894ebf8bdc4ddf6e163dbb00bee6f88c36c82fe805bd7ec9dbb90a0900","target":"record","created_at":"2026-07-05T04:12:55Z","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":"c45ff3a89eba8d4c53f54b17bafad99458acc449d0bd227657bdbf2a7f188858","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-04-09T00:08:16Z","title_canon_sha256":"dc370caa99dbd229d278339c4004826ca80bd98e71cec611b7fadb4108fa0910"},"schema_version":"1.0","source":{"id":"2204.04330","kind":"arxiv","version":1}},"canonical_sha256":"5f2a5c3e8ec1e7e7cd65d2c6c4ad3b2abf2d34f4f9a5ef5402fa698086f1541f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5f2a5c3e8ec1e7e7cd65d2c6c4ad3b2abf2d34f4f9a5ef5402fa698086f1541f","first_computed_at":"2026-07-05T04:12:55.721133Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:12:55.721133Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1Pymd238yDMdmIy4sE5UY2ekzpxJdbzPi8iL2MHU16TaO38NsZc5pJanB6OZW8a8logTHPyU7Bxhww8nEDcMCg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:12:55.721536Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.04330","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:53dc62894ebf8bdc4ddf6e163dbb00bee6f88c36c82fe805bd7ec9dbb90a0900","sha256:43eed0e2ea83545cf947eaba35620c7c732d98abfcedae8dcbe5253707b87a0a"],"state_sha256":"eee6e829d649ffc34be2049e542a2983343216fa9714e2e9d459ea04946e0bb5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AVAB2LLMrQaj7aOvaKG7jMPzn8nmuRfFpKe2zNLA/LpcHe3dL00fgN2DJ4SBvt/ep+hrDG3OPtBCj+/J31HdCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T09:03:00.092108Z","bundle_sha256":"a1630c92fd4e16950c8b2ec0237adbfaed4583b46271091762328f6ca7cc7475"}}