{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:LJYBL3SGC2NVWYXD5SYBBDIYM3","short_pith_number":"pith:LJYBL3SG","canonical_record":{"source":{"id":"2412.14989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-19T16:00:43Z","cross_cats_sorted":[],"title_canon_sha256":"28118f522e683be086e54de097d4e6fc210c9cba3300feabc3ce4e56f9569539","abstract_canon_sha256":"84f287253f99ff7a5dea1bf582e63ef607f85f1169689d3cbc1b97248faf2d60"},"schema_version":"1.0"},"canonical_sha256":"5a7015ee46169b5b62e3ecb0108d1866e4d8be2674f2cca19d502237890803f5","source":{"kind":"arxiv","id":"2412.14989","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.14989","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"arxiv_version","alias_value":"2412.14989v1","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.14989","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_12","alias_value":"LJYBL3SGC2NV","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_16","alias_value":"LJYBL3SGC2NVWYXD","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_8","alias_value":"LJYBL3SG","created_at":"2026-07-05T09:51:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:LJYBL3SGC2NVWYXD5SYBBDIYM3","target":"record","payload":{"canonical_record":{"source":{"id":"2412.14989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-19T16:00:43Z","cross_cats_sorted":[],"title_canon_sha256":"28118f522e683be086e54de097d4e6fc210c9cba3300feabc3ce4e56f9569539","abstract_canon_sha256":"84f287253f99ff7a5dea1bf582e63ef607f85f1169689d3cbc1b97248faf2d60"},"schema_version":"1.0"},"canonical_sha256":"5a7015ee46169b5b62e3ecb0108d1866e4d8be2674f2cca19d502237890803f5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:51:56.804122Z","signature_b64":"8DKRJahI/6s7TVO0b6xrv/A6ykzJt68xMgwSkAuNmlPgNc27OtGlnZXUw/nHx6UyKrggXd8dVVhCg1B1uy1IDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5a7015ee46169b5b62e3ecb0108d1866e4d8be2674f2cca19d502237890803f5","last_reissued_at":"2026-07-05T09:51:56.803562Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:51:56.803562Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.14989","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":"2026-07-05T09:51:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FhnSprVvQ+Vg6/lHSkyCMN5F5ce7okmqY7231iDIrGx1fJfkUc/r8NJ5u/xbD9LN4woKrffClmGAgON44rgrDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T10:58:18.218135Z"},"content_sha256":"43b1c1f316e9caa7af1cce5f2cd66b5c460a316132e46d131adca98ee48112f4","schema_version":"1.0","event_id":"sha256:43b1c1f316e9caa7af1cce5f2cd66b5c460a316132e46d131adca98ee48112f4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:LJYBL3SGC2NVWYXD5SYBBDIYM3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alena Savinykh, Bastian P\\\"atzold, Bertan Karacora, Evgenii Kruzhkov, Jan Nogga, Jonas Bode, Juhui Park, Michael Schreiber, Raphael Memmesheimer, Simon Bultmann, Sven Behnke","submitted_at":"2024-12-19T16:00:43Z","abstract_excerpt":"We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year's competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descri"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.14989","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/2412.14989/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":"2026-07-05T09:51:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FNb2s29LN5cszXSOIZChfV0ZdEjoZm2s+G+2yBbzkAGhlb6+9HWc48Sd5DidOCOrZLdyS1WQzJn2vIEa+8jUDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T10:58:18.218652Z"},"content_sha256":"f501295bc2795691e55b637a06e1fe98a25ed0e7c0f2e5da15c426b7fd455fc2","schema_version":"1.0","event_id":"sha256:f501295bc2795691e55b637a06e1fe98a25ed0e7c0f2e5da15c426b7fd455fc2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/bundle.json","state_url":"https://pith.science/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/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":"2026-08-12T10:58:18Z","links":{"resolver":"https://pith.science/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3","bundle":"https://pith.science/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/bundle.json","state":"https://pith.science/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LJYBL3SGC2NVWYXD5SYBBDIYM3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LJYBL3SGC2NVWYXD5SYBBDIYM3","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":"84f287253f99ff7a5dea1bf582e63ef607f85f1169689d3cbc1b97248faf2d60","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-19T16:00:43Z","title_canon_sha256":"28118f522e683be086e54de097d4e6fc210c9cba3300feabc3ce4e56f9569539"},"schema_version":"1.0","source":{"id":"2412.14989","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.14989","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"arxiv_version","alias_value":"2412.14989v1","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.14989","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_12","alias_value":"LJYBL3SGC2NV","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_16","alias_value":"LJYBL3SGC2NVWYXD","created_at":"2026-07-05T09:51:56Z"},{"alias_kind":"pith_short_8","alias_value":"LJYBL3SG","created_at":"2026-07-05T09:51:56Z"}],"graph_snapshots":[{"event_id":"sha256:f501295bc2795691e55b637a06e1fe98a25ed0e7c0f2e5da15c426b7fd455fc2","target":"graph","created_at":"2026-07-05T09:51:56Z","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/2412.14989/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year's competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descri","authors_text":"Alena Savinykh, Bastian P\\\"atzold, Bertan Karacora, Evgenii Kruzhkov, Jan Nogga, Jonas Bode, Juhui Park, Michael Schreiber, Raphael Memmesheimer, Simon Bultmann, Sven Behnke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-19T16:00:43Z","title":"RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.14989","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":"sha256:43b1c1f316e9caa7af1cce5f2cd66b5c460a316132e46d131adca98ee48112f4","target":"record","created_at":"2026-07-05T09:51:56Z","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":"84f287253f99ff7a5dea1bf582e63ef607f85f1169689d3cbc1b97248faf2d60","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-19T16:00:43Z","title_canon_sha256":"28118f522e683be086e54de097d4e6fc210c9cba3300feabc3ce4e56f9569539"},"schema_version":"1.0","source":{"id":"2412.14989","kind":"arxiv","version":1}},"canonical_sha256":"5a7015ee46169b5b62e3ecb0108d1866e4d8be2674f2cca19d502237890803f5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5a7015ee46169b5b62e3ecb0108d1866e4d8be2674f2cca19d502237890803f5","first_computed_at":"2026-07-05T09:51:56.803562Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:51:56.803562Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8DKRJahI/6s7TVO0b6xrv/A6ykzJt68xMgwSkAuNmlPgNc27OtGlnZXUw/nHx6UyKrggXd8dVVhCg1B1uy1IDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:51:56.804122Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.14989","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:43b1c1f316e9caa7af1cce5f2cd66b5c460a316132e46d131adca98ee48112f4","sha256:f501295bc2795691e55b637a06e1fe98a25ed0e7c0f2e5da15c426b7fd455fc2"],"state_sha256":"b7501ce3b8475657b4f8bfcba1608261bd343c4f02833b350ed2fc9dfc09189b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"722fYqABedCBvmghgxZV1VLkkz5IoDRiNM2l7JfmrDPHiNm4wLbAMsEHRtAOKeNI6Om2RAhBzTCECrgAhnymBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T10:58:18.223551Z","bundle_sha256":"506b313df4bbd1e3b8bf474231ead1e7002248a02db58ffc03b2b73cd7c270b8"}}