{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:Q5DPRHLAOJBCNG4FCGYVOAJPRC","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":"ab7f7ca9ef6e6afecff06749748e4ddfbfc8e85fb8598dcbb9d1c67e494e2a3a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-26T04:30:14Z","title_canon_sha256":"aab8af4a98ddb2bd0ce6638360097204eb74165a9dadfcd6129b90c645819011"},"schema_version":"1.0","source":{"id":"1809.09802","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.09802","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"arxiv_version","alias_value":"1809.09802v1","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09802","created_at":"2026-05-18T00:04:43Z"},{"alias_kind":"pith_short_12","alias_value":"Q5DPRHLAOJBC","created_at":"2026-05-18T12:32:46Z"},{"alias_kind":"pith_short_16","alias_value":"Q5DPRHLAOJBCNG4F","created_at":"2026-05-18T12:32:46Z"},{"alias_kind":"pith_short_8","alias_value":"Q5DPRHLA","created_at":"2026-05-18T12:32:46Z"}],"graph_snapshots":[{"event_id":"sha256:a9eaa5e6abcf4a59672b0016788638b72eeaa7aa3e32f8374792d52acfce26b9","target":"graph","created_at":"2026-05-18T00:04:43Z","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":"Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high precision. In this paper, we present a real-time shape estimation approach for autonomous robotic manipulation of 3D deformable objects. Our method fulfills all the requirements necessary for the high-quality deformable object manipulation in terms of being real-time, model-free and robust to noise and occlusion. These advantages are accomplished using a joint","authors_text":"Jia Pan, Peigen Sun, Tao Han, Xuan Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-26T04:30:14Z","title":"Robust Shape Estimation for 3D Deformable Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09802","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":"sha256:0d47cb20449d27257823b44fce7d2f7d2875dab3c8deb64ec1146842cc805d36","target":"record","created_at":"2026-05-18T00:04:43Z","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":"ab7f7ca9ef6e6afecff06749748e4ddfbfc8e85fb8598dcbb9d1c67e494e2a3a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-26T04:30:14Z","title_canon_sha256":"aab8af4a98ddb2bd0ce6638360097204eb74165a9dadfcd6129b90c645819011"},"schema_version":"1.0","source":{"id":"1809.09802","kind":"arxiv","version":1}},"canonical_sha256":"8746f89d607242269b8511b157012f88bf2f9327d3b74ec186784a52a775d9a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8746f89d607242269b8511b157012f88bf2f9327d3b74ec186784a52a775d9a6","first_computed_at":"2026-05-18T00:04:43.611572Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:43.611572Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WnPzsys14emCDmcHwZPFTnHdtlS9mpyHPmSOqZ9ADoqYPCiZjwOesjo/WlllCCmjpjzf3IK3BumKl2qcI9WDDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:43.612132Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.09802","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0d47cb20449d27257823b44fce7d2f7d2875dab3c8deb64ec1146842cc805d36","sha256:a9eaa5e6abcf4a59672b0016788638b72eeaa7aa3e32f8374792d52acfce26b9"],"state_sha256":"e8e29c69b42e585e0f57e85552cecf019adbe339b76d7f8b2c911b24e4baba84"}