{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:SLKOMZRR553HEMCVLAAKRPOXU3","short_pith_number":"pith:SLKOMZRR","canonical_record":{"source":{"id":"2312.00583","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2023-11-30T18:53:03Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e1e81ad47de3bbe35539f99fea3f1171f1a008ae68966867657b2162492978ef","abstract_canon_sha256":"9e3efee218e058ddb10a43971f97e9f084b61753e172014e7458307b9aeb8ad0"},"schema_version":"1.0"},"canonical_sha256":"92d4e66631ef767230555800a8bdd7a6da1491e0cf1f68341fcfb95b9567b86b","source":{"kind":"arxiv","id":"2312.00583","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.00583","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"arxiv_version","alias_value":"2312.00583v2","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.00583","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_12","alias_value":"SLKOMZRR553H","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_16","alias_value":"SLKOMZRR553HEMCV","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_8","alias_value":"SLKOMZRR","created_at":"2026-07-05T09:00:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:SLKOMZRR553HEMCVLAAKRPOXU3","target":"record","payload":{"canonical_record":{"source":{"id":"2312.00583","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2023-11-30T18:53:03Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e1e81ad47de3bbe35539f99fea3f1171f1a008ae68966867657b2162492978ef","abstract_canon_sha256":"9e3efee218e058ddb10a43971f97e9f084b61753e172014e7458307b9aeb8ad0"},"schema_version":"1.0"},"canonical_sha256":"92d4e66631ef767230555800a8bdd7a6da1491e0cf1f68341fcfb95b9567b86b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:00:56.641010Z","signature_b64":"VDZVRAXL4Afs7wggh89+2Gay04TyEGSwwJkgIJujRGejgD7wnKGNXcLkhhzpBA5Sx9ayJKyDUMZbiRf7QtZIDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"92d4e66631ef767230555800a8bdd7a6da1491e0cf1f68341fcfb95b9567b86b","last_reissued_at":"2026-07-05T09:00:56.640608Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:00:56.640608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.00583","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":"2026-07-05T09:00:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nCaHa9GVUpMMJQ1yWrhGq9amuSjeOCd1Ug8AtrnPbIeudkjBz8UO64vG6esJvC2IkTotIeggShTwMJikdpYLBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:46:03.716520Z"},"content_sha256":"cb48380517e33aca9cee8a24202dcc96a200ce48eef5401848d3505092e847cd","schema_version":"1.0","event_id":"sha256:cb48380517e33aca9cee8a24202dcc96a200ce48eef5401848d3505092e847cd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:SLKOMZRR553HEMCVLAAKRPOXU3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Bardienus P. Duisterhof, Bowen Wen, Deva Ramanan, Jeffrey Ichnowski, Jenny Seidenschwarz, Jia-Wei Liu, Mike Zheng Shou, Shuran Song, Stan Birchfield, Yunchao Yao, Zhao Mandi","submitted_at":"2023-11-30T18:53:03Z","abstract_excerpt":"Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses unique challenges, including frequent occlusions, infinite-dimensional state spaces and complex dynamics. Just as object pose estimation and tracking have aided robots for rigid manipulation, dense 3D tracking (scene flow) of highly deformable objects will enable new applications in robotics while aiding existing approaches, such as imitation learning or creat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.00583","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/2312.00583/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":"2026-07-05T09:00:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1yspFZHH0eZl5HxTW9x6wzByRWCs1KGQkoVjO1nsTuPiORunQa2bawXxx4akZt6a8rq+XphlFe9z9C4ThuiPBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:46:03.717655Z"},"content_sha256":"34f886958cf12a07b9af928d22d875d95587850f89b87e6ea3515734b2fbc220","schema_version":"1.0","event_id":"sha256:34f886958cf12a07b9af928d22d875d95587850f89b87e6ea3515734b2fbc220"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SLKOMZRR553HEMCVLAAKRPOXU3/bundle.json","state_url":"https://pith.science/pith/SLKOMZRR553HEMCVLAAKRPOXU3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SLKOMZRR553HEMCVLAAKRPOXU3/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":"2026-08-05T01:46:03Z","links":{"resolver":"https://pith.science/pith/SLKOMZRR553HEMCVLAAKRPOXU3","bundle":"https://pith.science/pith/SLKOMZRR553HEMCVLAAKRPOXU3/bundle.json","state":"https://pith.science/pith/SLKOMZRR553HEMCVLAAKRPOXU3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SLKOMZRR553HEMCVLAAKRPOXU3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:SLKOMZRR553HEMCVLAAKRPOXU3","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":"9e3efee218e058ddb10a43971f97e9f084b61753e172014e7458307b9aeb8ad0","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2023-11-30T18:53:03Z","title_canon_sha256":"e1e81ad47de3bbe35539f99fea3f1171f1a008ae68966867657b2162492978ef"},"schema_version":"1.0","source":{"id":"2312.00583","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.00583","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"arxiv_version","alias_value":"2312.00583v2","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.00583","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_12","alias_value":"SLKOMZRR553H","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_16","alias_value":"SLKOMZRR553HEMCV","created_at":"2026-07-05T09:00:56Z"},{"alias_kind":"pith_short_8","alias_value":"SLKOMZRR","created_at":"2026-07-05T09:00:56Z"}],"graph_snapshots":[{"event_id":"sha256:34f886958cf12a07b9af928d22d875d95587850f89b87e6ea3515734b2fbc220","target":"graph","created_at":"2026-07-05T09:00:56Z","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/2312.00583/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses unique challenges, including frequent occlusions, infinite-dimensional state spaces and complex dynamics. Just as object pose estimation and tracking have aided robots for rigid manipulation, dense 3D tracking (scene flow) of highly deformable objects will enable new applications in robotics while aiding existing approaches, such as imitation learning or creat","authors_text":"Bardienus P. Duisterhof, Bowen Wen, Deva Ramanan, Jeffrey Ichnowski, Jenny Seidenschwarz, Jia-Wei Liu, Mike Zheng Shou, Shuran Song, Stan Birchfield, Yunchao Yao, Zhao Mandi","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2023-11-30T18:53:03Z","title":"DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.00583","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:cb48380517e33aca9cee8a24202dcc96a200ce48eef5401848d3505092e847cd","target":"record","created_at":"2026-07-05T09:00:56Z","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":"9e3efee218e058ddb10a43971f97e9f084b61753e172014e7458307b9aeb8ad0","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2023-11-30T18:53:03Z","title_canon_sha256":"e1e81ad47de3bbe35539f99fea3f1171f1a008ae68966867657b2162492978ef"},"schema_version":"1.0","source":{"id":"2312.00583","kind":"arxiv","version":2}},"canonical_sha256":"92d4e66631ef767230555800a8bdd7a6da1491e0cf1f68341fcfb95b9567b86b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"92d4e66631ef767230555800a8bdd7a6da1491e0cf1f68341fcfb95b9567b86b","first_computed_at":"2026-07-05T09:00:56.640608Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:00:56.640608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VDZVRAXL4Afs7wggh89+2Gay04TyEGSwwJkgIJujRGejgD7wnKGNXcLkhhzpBA5Sx9ayJKyDUMZbiRf7QtZIDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:00:56.641010Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.00583","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cb48380517e33aca9cee8a24202dcc96a200ce48eef5401848d3505092e847cd","sha256:34f886958cf12a07b9af928d22d875d95587850f89b87e6ea3515734b2fbc220"],"state_sha256":"f098d83301bba43b3375e5139468368b428dcef50b8f24a86b91c43eb48365cd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bpVHJB5O8AVKvig3VV8N01vkOo3uN4v7fRbLrYcyi6xD/JXGdzYJZ422jJCukOUIQ+L07Mf09Nf637RSO0QIAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T01:46:03.724406Z","bundle_sha256":"4f5eab0fdb153775eee8bc4f32791362a3c3a02d09a219091396d2112ad153bc"}}