{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:P7DU3WAINVKU5YBFCKHQSFG3EA","short_pith_number":"pith:P7DU3WAI","canonical_record":{"source":{"id":"2407.13842","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T18:24:51Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f13efbea1b4ff0a86e6d95786103c28a04006abcd046f6aaa903f9811f203a6c","abstract_canon_sha256":"7484cbf97143b2dedace06973f469d485732f6942ff0d7ebee4c420a91d07c72"},"schema_version":"1.0"},"canonical_sha256":"7fc74dd8086d554ee025128f0914db202f0f7be6f3cb85606429b04f483b9473","source":{"kind":"arxiv","id":"2407.13842","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.13842","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"arxiv_version","alias_value":"2407.13842v2","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.13842","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_12","alias_value":"P7DU3WAINVKU","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_16","alias_value":"P7DU3WAINVKU5YBF","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_8","alias_value":"P7DU3WAI","created_at":"2026-07-05T08:48:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:P7DU3WAINVKU5YBFCKHQSFG3EA","target":"record","payload":{"canonical_record":{"source":{"id":"2407.13842","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T18:24:51Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f13efbea1b4ff0a86e6d95786103c28a04006abcd046f6aaa903f9811f203a6c","abstract_canon_sha256":"7484cbf97143b2dedace06973f469d485732f6942ff0d7ebee4c420a91d07c72"},"schema_version":"1.0"},"canonical_sha256":"7fc74dd8086d554ee025128f0914db202f0f7be6f3cb85606429b04f483b9473","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:48:15.824503Z","signature_b64":"KlRCOyG9Am2x8E4pyIK/d6NtS7MD3cXbZ7QyH2QYf65kbvD+/wFY9qWupw2xpPI5DvN4WFdG3zM+LKVn5ea4CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7fc74dd8086d554ee025128f0914db202f0f7be6f3cb85606429b04f483b9473","last_reissued_at":"2026-07-05T08:48:15.824089Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:48:15.824089Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.13842","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:48:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jQZ/bAzebm315OJe2W0laXGRPvmPhTkXqmha5bE5jJQ7w5dIe4CxryhZz1ZqSEQ5KKlxwVQFlJpmrLmIGTEaCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T04:13:52.916014Z"},"content_sha256":"c7d66f1b727b4511ee5ac78a3fd3703172f4542a71471a432d37ce99252c731a","schema_version":"1.0","event_id":"sha256:c7d66f1b727b4511ee5ac78a3fd3703172f4542a71471a432d37ce99252c731a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:P7DU3WAINVKU5YBFCKHQSFG3EA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Anh Nguyen, An Vuong, Baoru Huang, Minh Nhat Vu, Ngan Le, Quan Vuong, Thieu Vo, Toan Nguyen","submitted_at":"2024-07-18T18:24:51Z","abstract_excerpt":"6-DoF grasp detection has been a fundamental and challenging problem in robotic vision. While previous works have focused on ensuring grasp stability, they often do not consider human intention conveyed through natural language, hindering effective collaboration between robots and users in complex 3D environments. In this paper, we present a new approach for language-driven 6-DoF grasp detection in cluttered point clouds. We first introduce Grasp-Anything-6D, a large-scale dataset for the language-driven 6-DoF grasp detection task with 1M point cloud scenes and more than 200M language-associat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.13842","kind":"arxiv","version":2},"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/2407.13842/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":"2026-07-05T08:48:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pr+onf8VGLAK/eUsafA3b7w9yx5aFdoQefZ8+SuJBbNxGzz3kW2qI3497PgbPi7yYyl2Z3lARwmdYT22GjZGAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T04:13:52.916646Z"},"content_sha256":"345aad2435f677cbea83b59b017c86b8acb543178405ab8e4540b9b526f024e6","schema_version":"1.0","event_id":"sha256:345aad2435f677cbea83b59b017c86b8acb543178405ab8e4540b9b526f024e6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/bundle.json","state_url":"https://pith.science/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/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":"2026-08-06T04:13:52Z","links":{"resolver":"https://pith.science/pith/P7DU3WAINVKU5YBFCKHQSFG3EA","bundle":"https://pith.science/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/bundle.json","state":"https://pith.science/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/P7DU3WAINVKU5YBFCKHQSFG3EA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:P7DU3WAINVKU5YBFCKHQSFG3EA","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":"7484cbf97143b2dedace06973f469d485732f6942ff0d7ebee4c420a91d07c72","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T18:24:51Z","title_canon_sha256":"f13efbea1b4ff0a86e6d95786103c28a04006abcd046f6aaa903f9811f203a6c"},"schema_version":"1.0","source":{"id":"2407.13842","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.13842","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"arxiv_version","alias_value":"2407.13842v2","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.13842","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_12","alias_value":"P7DU3WAINVKU","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_16","alias_value":"P7DU3WAINVKU5YBF","created_at":"2026-07-05T08:48:15Z"},{"alias_kind":"pith_short_8","alias_value":"P7DU3WAI","created_at":"2026-07-05T08:48:15Z"}],"graph_snapshots":[{"event_id":"sha256:345aad2435f677cbea83b59b017c86b8acb543178405ab8e4540b9b526f024e6","target":"graph","created_at":"2026-07-05T08:48:15Z","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/2407.13842/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"6-DoF grasp detection has been a fundamental and challenging problem in robotic vision. While previous works have focused on ensuring grasp stability, they often do not consider human intention conveyed through natural language, hindering effective collaboration between robots and users in complex 3D environments. In this paper, we present a new approach for language-driven 6-DoF grasp detection in cluttered point clouds. We first introduce Grasp-Anything-6D, a large-scale dataset for the language-driven 6-DoF grasp detection task with 1M point cloud scenes and more than 200M language-associat","authors_text":"Anh Nguyen, An Vuong, Baoru Huang, Minh Nhat Vu, Ngan Le, Quan Vuong, Thieu Vo, Toan Nguyen","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T18:24:51Z","title":"Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.13842","kind":"arxiv","version":2},"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:c7d66f1b727b4511ee5ac78a3fd3703172f4542a71471a432d37ce99252c731a","target":"record","created_at":"2026-07-05T08:48:15Z","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":"7484cbf97143b2dedace06973f469d485732f6942ff0d7ebee4c420a91d07c72","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T18:24:51Z","title_canon_sha256":"f13efbea1b4ff0a86e6d95786103c28a04006abcd046f6aaa903f9811f203a6c"},"schema_version":"1.0","source":{"id":"2407.13842","kind":"arxiv","version":2}},"canonical_sha256":"7fc74dd8086d554ee025128f0914db202f0f7be6f3cb85606429b04f483b9473","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7fc74dd8086d554ee025128f0914db202f0f7be6f3cb85606429b04f483b9473","first_computed_at":"2026-07-05T08:48:15.824089Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:48:15.824089Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KlRCOyG9Am2x8E4pyIK/d6NtS7MD3cXbZ7QyH2QYf65kbvD+/wFY9qWupw2xpPI5DvN4WFdG3zM+LKVn5ea4CA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:48:15.824503Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.13842","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c7d66f1b727b4511ee5ac78a3fd3703172f4542a71471a432d37ce99252c731a","sha256:345aad2435f677cbea83b59b017c86b8acb543178405ab8e4540b9b526f024e6"],"state_sha256":"3aff3e85959b6867f364e941d9cf1d80004094dcb746305bf0f4c462ef5459b4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bKBcbCGJ6RVg1m2C9m2NVBqjOj1bibfsbeJ5g5G1CNe2PY6etv7aV0NNabIjPQm57orhf1dDbFeLvIBWlu2dBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T04:13:52.922254Z","bundle_sha256":"1b20dd341bc67d75a6961591f5fc58b2999706a35fdd291f14c3535f3489b607"}}