{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:LWPHENJZLFA226447CB24EBKF2","short_pith_number":"pith:LWPHENJZ","canonical_record":{"source":{"id":"2003.03518","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T05:51:03Z","cross_cats_sorted":["cs.CV","eess.IV"],"title_canon_sha256":"e4e43c834df824bda16bc92711074ae636a9544b6004eb5aaf6a7f885b0ce0c2","abstract_canon_sha256":"f26c5db8f41010a6cec62a955f64689adc0b419d9d39173574283a3cc4fb9c32"},"schema_version":"1.0"},"canonical_sha256":"5d9e7235395941ad7b9cf883ae102a2ea6f3e2bc4c47319dda6fdb7567e34e02","source":{"kind":"arxiv","id":"2003.03518","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.03518","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"arxiv_version","alias_value":"2003.03518v1","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.03518","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_12","alias_value":"LWPHENJZLFA2","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_16","alias_value":"LWPHENJZLFA22644","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_8","alias_value":"LWPHENJZ","created_at":"2026-07-05T03:41:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:LWPHENJZLFA226447CB24EBKF2","target":"record","payload":{"canonical_record":{"source":{"id":"2003.03518","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T05:51:03Z","cross_cats_sorted":["cs.CV","eess.IV"],"title_canon_sha256":"e4e43c834df824bda16bc92711074ae636a9544b6004eb5aaf6a7f885b0ce0c2","abstract_canon_sha256":"f26c5db8f41010a6cec62a955f64689adc0b419d9d39173574283a3cc4fb9c32"},"schema_version":"1.0"},"canonical_sha256":"5d9e7235395941ad7b9cf883ae102a2ea6f3e2bc4c47319dda6fdb7567e34e02","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:41:36.826965Z","signature_b64":"jK3g4QOQ3HhW8JHscIL2H+Z061lCraXcAemoQaUrLcjbtOeYTl7UDDSrDwkkatoUYJee2GgEK/FUjxVDsD+zAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5d9e7235395941ad7b9cf883ae102a2ea6f3e2bc4c47319dda6fdb7567e34e02","last_reissued_at":"2026-07-05T03:41:36.826445Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:41:36.826445Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.03518","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":"2026-07-05T03:41:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vwSR5IUg4tvlZhLgArJmt4B3msEuLQbc6IxkyoYqQDI370R8AM4bVh3rgoNBrXDWSSe19tFD2Ffp5y4WnyoHCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:49:56.594211Z"},"content_sha256":"cbaa3f0133b221d5c381a05b2966c692cdcefd15114141736ca5a737a34421bf","schema_version":"1.0","event_id":"sha256:cbaa3f0133b221d5c381a05b2966c692cdcefd15114141736ca5a737a34421bf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:LWPHENJZLFA226447CB24EBKF2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","eess.IV"],"primary_cat":"cs.RO","authors_text":"Andrew Kimmel, Avishai Sintov, Bowen Wen, Chaitanya Mitash, Kostas E. Bekris, Sruthi Soorian","submitted_at":"2020-03-07T05:51:03Z","abstract_excerpt":"Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for which it is not easy to detect the finger's configuration. In addition, RGB-only approaches face issues with texture-less objects or when the hand and the object look similar. This paper presents a depth-based framework, which aims for robust pose estimation and short response times. The approach detects the adaptive hand's state via efficient parallel sear"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.03518","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/2003.03518/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":"2026-07-05T03:41:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Wn8R6j+zLjdg811c73g14xTLGpxgCPcRvAideLhiBBJgwNfMHeNoE47eXwub4tskunRswvFJrZXo0ENoBpWACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:49:56.594597Z"},"content_sha256":"2cb17be06f320eacc16e1785c4dd9024c0276c32b44084abbbd77d2c28004071","schema_version":"1.0","event_id":"sha256:2cb17be06f320eacc16e1785c4dd9024c0276c32b44084abbbd77d2c28004071"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LWPHENJZLFA226447CB24EBKF2/bundle.json","state_url":"https://pith.science/pith/LWPHENJZLFA226447CB24EBKF2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LWPHENJZLFA226447CB24EBKF2/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":"2026-07-06T15:49:56Z","links":{"resolver":"https://pith.science/pith/LWPHENJZLFA226447CB24EBKF2","bundle":"https://pith.science/pith/LWPHENJZLFA226447CB24EBKF2/bundle.json","state":"https://pith.science/pith/LWPHENJZLFA226447CB24EBKF2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LWPHENJZLFA226447CB24EBKF2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:LWPHENJZLFA226447CB24EBKF2","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":"f26c5db8f41010a6cec62a955f64689adc0b419d9d39173574283a3cc4fb9c32","cross_cats_sorted":["cs.CV","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T05:51:03Z","title_canon_sha256":"e4e43c834df824bda16bc92711074ae636a9544b6004eb5aaf6a7f885b0ce0c2"},"schema_version":"1.0","source":{"id":"2003.03518","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.03518","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"arxiv_version","alias_value":"2003.03518v1","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.03518","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_12","alias_value":"LWPHENJZLFA2","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_16","alias_value":"LWPHENJZLFA22644","created_at":"2026-07-05T03:41:36Z"},{"alias_kind":"pith_short_8","alias_value":"LWPHENJZ","created_at":"2026-07-05T03:41:36Z"}],"graph_snapshots":[{"event_id":"sha256:2cb17be06f320eacc16e1785c4dd9024c0276c32b44084abbbd77d2c28004071","target":"graph","created_at":"2026-07-05T03:41:36Z","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/2003.03518/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for which it is not easy to detect the finger's configuration. In addition, RGB-only approaches face issues with texture-less objects or when the hand and the object look similar. This paper presents a depth-based framework, which aims for robust pose estimation and short response times. The approach detects the adaptive hand's state via efficient parallel sear","authors_text":"Andrew Kimmel, Avishai Sintov, Bowen Wen, Chaitanya Mitash, Kostas E. Bekris, Sruthi Soorian","cross_cats":["cs.CV","eess.IV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T05:51:03Z","title":"Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.03518","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:cbaa3f0133b221d5c381a05b2966c692cdcefd15114141736ca5a737a34421bf","target":"record","created_at":"2026-07-05T03:41:36Z","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":"f26c5db8f41010a6cec62a955f64689adc0b419d9d39173574283a3cc4fb9c32","cross_cats_sorted":["cs.CV","eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T05:51:03Z","title_canon_sha256":"e4e43c834df824bda16bc92711074ae636a9544b6004eb5aaf6a7f885b0ce0c2"},"schema_version":"1.0","source":{"id":"2003.03518","kind":"arxiv","version":1}},"canonical_sha256":"5d9e7235395941ad7b9cf883ae102a2ea6f3e2bc4c47319dda6fdb7567e34e02","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5d9e7235395941ad7b9cf883ae102a2ea6f3e2bc4c47319dda6fdb7567e34e02","first_computed_at":"2026-07-05T03:41:36.826445Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:41:36.826445Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jK3g4QOQ3HhW8JHscIL2H+Z061lCraXcAemoQaUrLcjbtOeYTl7UDDSrDwkkatoUYJee2GgEK/FUjxVDsD+zAA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:41:36.826965Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.03518","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cbaa3f0133b221d5c381a05b2966c692cdcefd15114141736ca5a737a34421bf","sha256:2cb17be06f320eacc16e1785c4dd9024c0276c32b44084abbbd77d2c28004071"],"state_sha256":"a7e66c739c738c2f36f5603fd1cefe61db7db5dea28c1057d12cc52e7ae25da6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g0w2rGnv5QIF9qd8mnt866UP5ipvhS57unJYBzzGOlYDXOAJ/oVwNSvVcrmTB+np1+MZ4lDIecurb3eZExlhAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T15:49:56.596554Z","bundle_sha256":"cb4689a4c71cdafb6d389c0393c5b4280beebd9268101252f00c27c5b62b1dab"}}