{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:QSPZNP3VNJYZG3LWI52CG5AMY6","short_pith_number":"pith:QSPZNP3V","canonical_record":{"source":{"id":"2207.13691","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-27T17:59:31Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"0e50b7b881ff5212c1031d6cce901e52e9aded99d3cfde3c6abf5ed1ae5b26f0","abstract_canon_sha256":"903a792137ffeeaa6177bfb44530d4aa0871fbbf1b5334e8867950a1eba6b628"},"schema_version":"1.0"},"canonical_sha256":"849f96bf756a71936d76477423740cc7b792258ad9901afafbfd02c04abcdc9e","source":{"kind":"arxiv","id":"2207.13691","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.13691","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"arxiv_version","alias_value":"2207.13691v1","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.13691","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_12","alias_value":"QSPZNP3VNJYZ","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_16","alias_value":"QSPZNP3VNJYZG3LW","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_8","alias_value":"QSPZNP3V","created_at":"2026-07-05T04:44:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:QSPZNP3VNJYZG3LWI52CG5AMY6","target":"record","payload":{"canonical_record":{"source":{"id":"2207.13691","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-27T17:59:31Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"0e50b7b881ff5212c1031d6cce901e52e9aded99d3cfde3c6abf5ed1ae5b26f0","abstract_canon_sha256":"903a792137ffeeaa6177bfb44530d4aa0871fbbf1b5334e8867950a1eba6b628"},"schema_version":"1.0"},"canonical_sha256":"849f96bf756a71936d76477423740cc7b792258ad9901afafbfd02c04abcdc9e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:44:09.672969Z","signature_b64":"wW3Q7oN1rdt7UW58wuR1ALzhLRebTwh1Rvl247pQ2sqGbhut/+rx0dB+Bjkqxg2BrmSONgXEQnb2eYSAn9lwAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"849f96bf756a71936d76477423740cc7b792258ad9901afafbfd02c04abcdc9e","last_reissued_at":"2026-07-05T04:44:09.672594Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:44:09.672594Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2207.13691","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":"2026-07-05T04:44:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DEZsBHIzZBvNaVXZcRJiApFfEf3rmNRkPgoM8MjoG1rDbCxR0MqWav4Q5ou5YsBu6p53asWfPnBPO5RkF5AXAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:25:18.261795Z"},"content_sha256":"82a971c7c04794dd16bf8b46cff15c146dadf922c9266ef252c55d452076224d","schema_version":"1.0","event_id":"sha256:82a971c7c04794dd16bf8b46cff15c146dadf922c9266ef252c55d452076224d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:QSPZNP3VNJYZG3LWI52CG5AMY6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Adrien Gaidon, Muhammad Zubair Irshad, Rares Ambrus, Sergey Zakharov, Thomas Kollar, Zsolt Kira","submitted_at":"2022-07-27T17:59:31Z","abstract_excerpt":"Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance for both 3D shape and 6D pose and size estimation in complex multi-object scenarios with occlusions. We present ShAPO, a method for joint multi-object detection, 3D textured reconstruction, 6D object pose and size estimation. Key to ShAPO is a single-shot pipeline to regress shape, appearance and pose latent codes along with the masks of each object instance, which is then further refined in a sparse-to-dense fashion"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.13691","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/2207.13691/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":"2026-07-05T04:44:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"16dyBiYc/YBxHbW5gF+R+hd5HChaVwewzhC9hIflzFFbZ4+7LMBEcWoaoJ5tculBEEpekZAgPhHDz9VDy/e1CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:25:18.262176Z"},"content_sha256":"f29d584b65b122aa4f8552008dce8eedacab9f03303d99634a7bec705c2bd4dc","schema_version":"1.0","event_id":"sha256:f29d584b65b122aa4f8552008dce8eedacab9f03303d99634a7bec705c2bd4dc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/bundle.json","state_url":"https://pith.science/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/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":"2026-07-06T16:25:18Z","links":{"resolver":"https://pith.science/pith/QSPZNP3VNJYZG3LWI52CG5AMY6","bundle":"https://pith.science/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/bundle.json","state":"https://pith.science/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QSPZNP3VNJYZG3LWI52CG5AMY6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:QSPZNP3VNJYZG3LWI52CG5AMY6","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":"903a792137ffeeaa6177bfb44530d4aa0871fbbf1b5334e8867950a1eba6b628","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-27T17:59:31Z","title_canon_sha256":"0e50b7b881ff5212c1031d6cce901e52e9aded99d3cfde3c6abf5ed1ae5b26f0"},"schema_version":"1.0","source":{"id":"2207.13691","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.13691","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"arxiv_version","alias_value":"2207.13691v1","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.13691","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_12","alias_value":"QSPZNP3VNJYZ","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_16","alias_value":"QSPZNP3VNJYZG3LW","created_at":"2026-07-05T04:44:09Z"},{"alias_kind":"pith_short_8","alias_value":"QSPZNP3V","created_at":"2026-07-05T04:44:09Z"}],"graph_snapshots":[{"event_id":"sha256:f29d584b65b122aa4f8552008dce8eedacab9f03303d99634a7bec705c2bd4dc","target":"graph","created_at":"2026-07-05T04:44:09Z","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/2207.13691/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance for both 3D shape and 6D pose and size estimation in complex multi-object scenarios with occlusions. We present ShAPO, a method for joint multi-object detection, 3D textured reconstruction, 6D object pose and size estimation. Key to ShAPO is a single-shot pipeline to regress shape, appearance and pose latent codes along with the masks of each object instance, which is then further refined in a sparse-to-dense fashion","authors_text":"Adrien Gaidon, Muhammad Zubair Irshad, Rares Ambrus, Sergey Zakharov, Thomas Kollar, Zsolt Kira","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-27T17:59:31Z","title":"ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.13691","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":"sha256:82a971c7c04794dd16bf8b46cff15c146dadf922c9266ef252c55d452076224d","target":"record","created_at":"2026-07-05T04:44:09Z","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":"903a792137ffeeaa6177bfb44530d4aa0871fbbf1b5334e8867950a1eba6b628","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-27T17:59:31Z","title_canon_sha256":"0e50b7b881ff5212c1031d6cce901e52e9aded99d3cfde3c6abf5ed1ae5b26f0"},"schema_version":"1.0","source":{"id":"2207.13691","kind":"arxiv","version":1}},"canonical_sha256":"849f96bf756a71936d76477423740cc7b792258ad9901afafbfd02c04abcdc9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"849f96bf756a71936d76477423740cc7b792258ad9901afafbfd02c04abcdc9e","first_computed_at":"2026-07-05T04:44:09.672594Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:44:09.672594Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wW3Q7oN1rdt7UW58wuR1ALzhLRebTwh1Rvl247pQ2sqGbhut/+rx0dB+Bjkqxg2BrmSONgXEQnb2eYSAn9lwAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:44:09.672969Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.13691","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:82a971c7c04794dd16bf8b46cff15c146dadf922c9266ef252c55d452076224d","sha256:f29d584b65b122aa4f8552008dce8eedacab9f03303d99634a7bec705c2bd4dc"],"state_sha256":"bbeb1375bd47690693e8101dd4a9f72bfa6b967dcb35bb2802e502ab480e29f2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HRbxDlROnYsWYDuj2E4M86e4QTE4/lHnFUkydufSeNpOhg7q5XcfIKW9+IoYrxBFGNaumSDedYVYFeaxgTN1BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:25:18.264207Z","bundle_sha256":"b60e6bc8c4673458bf87a81da2dff45690e0963da2dc6dc72b5f86d9b47c4596"}}