{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:U6OYQAJTWBZUXYFNZAL6TT2CZQ","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":"f7ead297b33f7923b3383c7eb64ee9a685253bbc56923ecdf04818026d7b30cb","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-07-14T18:38:39Z","title_canon_sha256":"b59361e39b906f619bd3e5e377c23b08c36c58df42636e609fe81aa6c03844ac"},"schema_version":"1.0","source":{"id":"2607.16312","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.16312","created_at":"2026-07-21T00:20:11Z"},{"alias_kind":"arxiv_version","alias_value":"2607.16312v1","created_at":"2026-07-21T00:20:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.16312","created_at":"2026-07-21T00:20:11Z"},{"alias_kind":"pith_short_12","alias_value":"U6OYQAJTWBZU","created_at":"2026-07-21T00:20:11Z"},{"alias_kind":"pith_short_16","alias_value":"U6OYQAJTWBZUXYFN","created_at":"2026-07-21T00:20:11Z"},{"alias_kind":"pith_short_8","alias_value":"U6OYQAJT","created_at":"2026-07-21T00:20:11Z"}],"graph_snapshots":[{"event_id":"sha256:de7a5a4b624c387fd97865904e4473016c2b8eb7a06fe7dd0cf98796e8e91bf1","target":"graph","created_at":"2026-07-21T00:20:11Z","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/2607.16312/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The transition toward high-mix low-volume manufacturing demands flexibility in robotic manipulation. However, conventional vision systems remain a bottleneck, requiring extensive data collection and model retraining whenever a new object is introduced to the production line. To overcome this rigidity, we present xperception, a zero-shot 6D pose estimation technology that eliminates the need for object-specific fine-tuning and laborious data annotation. By directly utilizing typical CAD models and integrating the rich semantic features of foundation models (e.g. DINOv2, GeDi), xperception achie","authors_text":"Alice Fasoli, Andrea Caraffa, Fabio Poiesi, Matteo Bortolon","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-07-14T18:38:39Z","title":"xperception -- Making Robotic Grasping Easier"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.16312","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:d21d83133188d2fbbd068e70fd281ef85d4053a1e95cf63c2e95435c6d2c0df8","target":"record","created_at":"2026-07-21T00:20:11Z","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":"f7ead297b33f7923b3383c7eb64ee9a685253bbc56923ecdf04818026d7b30cb","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-07-14T18:38:39Z","title_canon_sha256":"b59361e39b906f619bd3e5e377c23b08c36c58df42636e609fe81aa6c03844ac"},"schema_version":"1.0","source":{"id":"2607.16312","kind":"arxiv","version":1}},"canonical_sha256":"a79d880133b0734be0adc817e9cf42cc13f8ae7498571e5cc4f794d2f39818c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a79d880133b0734be0adc817e9cf42cc13f8ae7498571e5cc4f794d2f39818c4","first_computed_at":"2026-07-21T00:20:11.740926Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T00:20:11.740926Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gNlRFrrYxTKT10IrS5nsQD187BOcsgUEGIPGmoCoYnsFXRaMF1am1exlS6JhW81czXVKCAaNPB/dM+pyiLmbDw==","signature_status":"signed_v1","signed_at":"2026-07-21T00:20:11.741927Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.16312","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d21d83133188d2fbbd068e70fd281ef85d4053a1e95cf63c2e95435c6d2c0df8","sha256:de7a5a4b624c387fd97865904e4473016c2b8eb7a06fe7dd0cf98796e8e91bf1"],"state_sha256":"a8da879dd04f2961d1632fa9a813770bb1c809111db50ab9ae80064624ada8d3"}