{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:O4K36TBXLKKTVIMWLCCYM47L7I","short_pith_number":"pith:O4K36TBX","canonical_record":{"source":{"id":"1411.0802","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-11-04T06:46:30Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"abb8bdb34ba0796c9c4e5b14a53d5435a43be8ca4ac5eab7a89ace6d6548b253","abstract_canon_sha256":"dbf9cc128783233d96d544fd8354b06b5fe9c4c92460560354b7f02339a5891e"},"schema_version":"1.0"},"canonical_sha256":"7715bf4c375a953aa19658858673ebfa01b7319ebd49a1aa7fd55047ea991ef5","source":{"kind":"arxiv","id":"1411.0802","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.0802","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"arxiv_version","alias_value":"1411.0802v1","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.0802","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"pith_short_12","alias_value":"O4K36TBXLKKT","created_at":"2026-05-18T12:28:41Z"},{"alias_kind":"pith_short_16","alias_value":"O4K36TBXLKKTVIMW","created_at":"2026-05-18T12:28:41Z"},{"alias_kind":"pith_short_8","alias_value":"O4K36TBX","created_at":"2026-05-18T12:28:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:O4K36TBXLKKTVIMWLCCYM47L7I","target":"record","payload":{"canonical_record":{"source":{"id":"1411.0802","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-11-04T06:46:30Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"abb8bdb34ba0796c9c4e5b14a53d5435a43be8ca4ac5eab7a89ace6d6548b253","abstract_canon_sha256":"dbf9cc128783233d96d544fd8354b06b5fe9c4c92460560354b7f02339a5891e"},"schema_version":"1.0"},"canonical_sha256":"7715bf4c375a953aa19658858673ebfa01b7319ebd49a1aa7fd55047ea991ef5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:38:38.216205Z","signature_b64":"UIbz2Q7a+0xHrhc7z/AwlBgJGNrmk52dg4W7cRMzcOYGiHFH+sjklPxmthXEUMn5XA4vqrebBaw38EE7YdQVBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7715bf4c375a953aa19658858673ebfa01b7319ebd49a1aa7fd55047ea991ef5","last_reissued_at":"2026-05-18T02:38:38.215725Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:38:38.215725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1411.0802","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":"2026-05-18T02:38:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3BvTKRUd8+pFJE+Czsq0znw+bXRahBt1aUWl0tbYGLoXIVKG4sxNXEfl1qTbT3DC2+0EB7Fq0sqU+XAAFS89Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T00:45:32.667276Z"},"content_sha256":"93320f3b61b9538bb75a8b9dd77def8906176286eeae7c1aae7eceda74c67247","schema_version":"1.0","event_id":"sha256:93320f3b61b9538bb75a8b9dd77def8906176286eeae7c1aae7eceda74c67247"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:O4K36TBXLKKTVIMWLCCYM47L7I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Simultaneous Localization, Mapping, and Manipulation for Unsupervised Object Discovery","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Dave Coleman, Gabe Sibley, Lu Ma, Mahsa Ghafarianzadeh, Nikolaus Correll","submitted_at":"2014-11-04T06:46:30Z","abstract_excerpt":"We present an unsupervised framework for simultaneous appearance-based object discovery, detection, tracking and reconstruction using RGBD cameras and a robot manipulator. The system performs dense 3D simultaneous localization and mapping concurrently with unsupervised object discovery. Putative objects that are spatially and visually coherent are manipulated by the robot to gain additional motion-cues. The robot uses appearance alone, followed by structure and motion cues, to jointly discover, verify, learn and improve models of objects. Induced motion segmentation reinforces learned models w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.0802","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":""},"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":"2026-05-18T02:38:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9bdQXQXUUZmGWnQlMkFZ0OLx1Q9e2OnI7e+z+UobvNHXQhX+OqYETzLyrouUuDLXlPZymUQwDHAhfTO5GtDvCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T00:45:32.668027Z"},"content_sha256":"ac76540e236d2aefac888716527a665303bf39090b73681fa5e033ff0d683778","schema_version":"1.0","event_id":"sha256:ac76540e236d2aefac888716527a665303bf39090b73681fa5e033ff0d683778"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/O4K36TBXLKKTVIMWLCCYM47L7I/bundle.json","state_url":"https://pith.science/pith/O4K36TBXLKKTVIMWLCCYM47L7I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/O4K36TBXLKKTVIMWLCCYM47L7I/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":"2026-06-11T00:45:32Z","links":{"resolver":"https://pith.science/pith/O4K36TBXLKKTVIMWLCCYM47L7I","bundle":"https://pith.science/pith/O4K36TBXLKKTVIMWLCCYM47L7I/bundle.json","state":"https://pith.science/pith/O4K36TBXLKKTVIMWLCCYM47L7I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/O4K36TBXLKKTVIMWLCCYM47L7I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:O4K36TBXLKKTVIMWLCCYM47L7I","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":"dbf9cc128783233d96d544fd8354b06b5fe9c4c92460560354b7f02339a5891e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-11-04T06:46:30Z","title_canon_sha256":"abb8bdb34ba0796c9c4e5b14a53d5435a43be8ca4ac5eab7a89ace6d6548b253"},"schema_version":"1.0","source":{"id":"1411.0802","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.0802","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"arxiv_version","alias_value":"1411.0802v1","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.0802","created_at":"2026-05-18T02:38:38Z"},{"alias_kind":"pith_short_12","alias_value":"O4K36TBXLKKT","created_at":"2026-05-18T12:28:41Z"},{"alias_kind":"pith_short_16","alias_value":"O4K36TBXLKKTVIMW","created_at":"2026-05-18T12:28:41Z"},{"alias_kind":"pith_short_8","alias_value":"O4K36TBX","created_at":"2026-05-18T12:28:41Z"}],"graph_snapshots":[{"event_id":"sha256:ac76540e236d2aefac888716527a665303bf39090b73681fa5e033ff0d683778","target":"graph","created_at":"2026-05-18T02:38:38Z","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"},"paper":{"abstract_excerpt":"We present an unsupervised framework for simultaneous appearance-based object discovery, detection, tracking and reconstruction using RGBD cameras and a robot manipulator. The system performs dense 3D simultaneous localization and mapping concurrently with unsupervised object discovery. Putative objects that are spatially and visually coherent are manipulated by the robot to gain additional motion-cues. The robot uses appearance alone, followed by structure and motion cues, to jointly discover, verify, learn and improve models of objects. Induced motion segmentation reinforces learned models w","authors_text":"Dave Coleman, Gabe Sibley, Lu Ma, Mahsa Ghafarianzadeh, Nikolaus Correll","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-11-04T06:46:30Z","title":"Simultaneous Localization, Mapping, and Manipulation for Unsupervised Object Discovery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.0802","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":"sha256:93320f3b61b9538bb75a8b9dd77def8906176286eeae7c1aae7eceda74c67247","target":"record","created_at":"2026-05-18T02:38:38Z","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":"dbf9cc128783233d96d544fd8354b06b5fe9c4c92460560354b7f02339a5891e","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-11-04T06:46:30Z","title_canon_sha256":"abb8bdb34ba0796c9c4e5b14a53d5435a43be8ca4ac5eab7a89ace6d6548b253"},"schema_version":"1.0","source":{"id":"1411.0802","kind":"arxiv","version":1}},"canonical_sha256":"7715bf4c375a953aa19658858673ebfa01b7319ebd49a1aa7fd55047ea991ef5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7715bf4c375a953aa19658858673ebfa01b7319ebd49a1aa7fd55047ea991ef5","first_computed_at":"2026-05-18T02:38:38.215725Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:38:38.215725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UIbz2Q7a+0xHrhc7z/AwlBgJGNrmk52dg4W7cRMzcOYGiHFH+sjklPxmthXEUMn5XA4vqrebBaw38EE7YdQVBg==","signature_status":"signed_v1","signed_at":"2026-05-18T02:38:38.216205Z","signed_message":"canonical_sha256_bytes"},"source_id":"1411.0802","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:93320f3b61b9538bb75a8b9dd77def8906176286eeae7c1aae7eceda74c67247","sha256:ac76540e236d2aefac888716527a665303bf39090b73681fa5e033ff0d683778"],"state_sha256":"49044a4a7bbe3ba0a7c1735f2dbaa47725a6ef8a08f87ca6753313e2b3b9cfaa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4wJiJcqSKBAeDbNguo2WF1Vo09hkTi28viWw5hUxwLjjvODUDQmHl/Omv2+/7KotGJ3TSWWdbx2x/gRsr52cAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T00:45:32.672446Z","bundle_sha256":"672e399997a523db6e20e1f8b847580e5813d49bf79d181f22b3871f15275b00"}}