Pith Number

pith:OD5MJS3A

pith:2026:OD5MJS3A4UODKYQAJB6YKHEYSH

not attested not anchored not stored refs pending

Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling

Lorenzo Shaikewitz, Luca Carlone, Rajat Talak, Xihang Yu

Picasso reconstructs multi-object scenes by jointly enforcing geometry, non-penetration, and physics through contact-graph-guided rejection sampling.

arxiv:2602.08058 v3 · 2026-02-08 · cs.CV · cs.AI · cs.RO · cs.SY · eess.SY

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\usepackage{pith}
\pithnumber{OD5MJS3A4UODKYQAJB6YKHEYSH}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Picasso relies on a fast rejection sampling method that reasons over multi-object interactions, leveraging an inferred object contact graph to guide samples, producing reconstructions that are both physically plausible and more aligned with human intuition while largely outperforming the state of the art.

C2weakest assumption

The inferred object contact graph is sufficiently accurate to guide sampling toward physically valid configurations without excluding good solutions or requiring prohibitive numbers of rejections.

C3one line summary

Picasso produces multi-object scene reconstructions that are both geometrically accurate and physically plausible by using physics-constrained rejection sampling over an inferred contact graph, outperforming prior methods on a new real-world dataset and YCB-V.

Formal links

2 machine-checked theorem links

Cited by

1 paper in Pith

Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observations

Receipt and verification

First computed	2026-06-02T02:04:14.355004Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

70fac4cb60e51c356200487d851c9891d992e5e812f8ce7ee564d2c4dd571469

Aliases

arxiv: 2602.08058 · arxiv_version: 2602.08058v3 · doi: 10.48550/arxiv.2602.08058 · pith_short_12: OD5MJS3A4UOD · pith_short_16: OD5MJS3A4UODKYQA · pith_short_8: OD5MJS3A

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/OD5MJS3A4UODKYQAJB6YKHEYSH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 70fac4cb60e51c356200487d851c9891d992e5e812f8ce7ee564d2c4dd571469

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1109759150f9f4b80019cacbe35e6303bf5ff3673d566ef8fa3f156bae959061",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.RO",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-02-08T17:04:54Z",
    "title_canon_sha256": "433d14993b99364a7eb44c4461d7a3e0a2456ecb88293c4643a0087af7629c1c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.08058",
    "kind": "arxiv",
    "version": 3
  }
}