{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:WE2ADRLEKKJ2VMBXK7PUSR5CX3","short_pith_number":"pith:WE2ADRLE","canonical_record":{"source":{"id":"2001.02076","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-03T05:41:11Z","cross_cats_sorted":["eess.IV"],"title_canon_sha256":"f0f4f23981af3f2e8789a185ad4dbfd383ca76a9d0286e044a206ed9a5007d33","abstract_canon_sha256":"2c282d5a0b238e5add451dc3b2c374e01bab9ece4bee2b632ea5c766afee8e9b"},"schema_version":"1.0"},"canonical_sha256":"b13401c5645293aab03757df4947a2bedcaa4386aa546d90c586e4ff8ff42b31","source":{"kind":"arxiv","id":"2001.02076","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.02076","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"arxiv_version","alias_value":"2001.02076v1","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.02076","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_12","alias_value":"WE2ADRLEKKJ2","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_16","alias_value":"WE2ADRLEKKJ2VMBX","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_8","alias_value":"WE2ADRLE","created_at":"2026-07-05T00:30:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:WE2ADRLEKKJ2VMBXK7PUSR5CX3","target":"record","payload":{"canonical_record":{"source":{"id":"2001.02076","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-03T05:41:11Z","cross_cats_sorted":["eess.IV"],"title_canon_sha256":"f0f4f23981af3f2e8789a185ad4dbfd383ca76a9d0286e044a206ed9a5007d33","abstract_canon_sha256":"2c282d5a0b238e5add451dc3b2c374e01bab9ece4bee2b632ea5c766afee8e9b"},"schema_version":"1.0"},"canonical_sha256":"b13401c5645293aab03757df4947a2bedcaa4386aa546d90c586e4ff8ff42b31","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:30:43.698473Z","signature_b64":"q6U4IgBPeQ2rUS5aXKzFN2D/ewYHkPmLxJl4jmJflP13G672ADAKUvKzrNJuAGgKM80TMHNJfixH1ik5EuooAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b13401c5645293aab03757df4947a2bedcaa4386aa546d90c586e4ff8ff42b31","last_reissued_at":"2026-07-05T00:30:43.698046Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:30:43.698046Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2001.02076","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":"2026-07-05T00:30:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZkdvDbio7TK5/FT0FJPFWo8zwffrJGHp7FAZxhzUv2suFCy9hpeK4nChEwf7OQG62L9+xnqzdrOLOQDpFEfJCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T08:42:05.193840Z"},"content_sha256":"df9d99d0bf9f8594ea6c3fd723d4b8429caaec8773653dbe12b9918427b94b8c","schema_version":"1.0","event_id":"sha256:df9d99d0bf9f8594ea6c3fd723d4b8429caaec8773653dbe12b9918427b94b8c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:WE2ADRLEKKJ2VMBXK7PUSR5CX3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-time Grasp Pose Estimation for Novel Objects in Densely Cluttered Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["eess.IV"],"primary_cat":"cs.RO","authors_text":"Laxmidhar Behera, Mohit Vohra, Ravi Prakash","submitted_at":"2020-01-03T05:41:11Z","abstract_excerpt":"Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \\textit{i}) grasping from the centroid of object and \\textit{ii}) grasping along the major axis of the object often fails for complex-shaped objects. In this paper, a real-time grasp pose estimation strategy for novel objects in robotic pick and place applications is proposed. The proposed technique estimates the object contour in the point cloud and predicts the grasp pose along with the objec"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.02076","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/2001.02076/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":"2026-07-05T00:30:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9z6ZhUU80VFwnDlEjYpmjp2pct0WEEhi1flAN+Kl46LeY4TMt2PCMBb9Q2XVxFIlDd7wu6P/E7gAV6hoIVf7Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T08:42:05.194198Z"},"content_sha256":"dc39a621bc1d76eac84a85f00b269c563c570b4a12ccbe443e93209cd3ec1470","schema_version":"1.0","event_id":"sha256:dc39a621bc1d76eac84a85f00b269c563c570b4a12ccbe443e93209cd3ec1470"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/bundle.json","state_url":"https://pith.science/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/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":"2026-07-12T08:42:05Z","links":{"resolver":"https://pith.science/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3","bundle":"https://pith.science/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/bundle.json","state":"https://pith.science/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WE2ADRLEKKJ2VMBXK7PUSR5CX3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:WE2ADRLEKKJ2VMBXK7PUSR5CX3","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":"2c282d5a0b238e5add451dc3b2c374e01bab9ece4bee2b632ea5c766afee8e9b","cross_cats_sorted":["eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-03T05:41:11Z","title_canon_sha256":"f0f4f23981af3f2e8789a185ad4dbfd383ca76a9d0286e044a206ed9a5007d33"},"schema_version":"1.0","source":{"id":"2001.02076","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.02076","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"arxiv_version","alias_value":"2001.02076v1","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.02076","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_12","alias_value":"WE2ADRLEKKJ2","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_16","alias_value":"WE2ADRLEKKJ2VMBX","created_at":"2026-07-05T00:30:43Z"},{"alias_kind":"pith_short_8","alias_value":"WE2ADRLE","created_at":"2026-07-05T00:30:43Z"}],"graph_snapshots":[{"event_id":"sha256:dc39a621bc1d76eac84a85f00b269c563c570b4a12ccbe443e93209cd3ec1470","target":"graph","created_at":"2026-07-05T00:30:43Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2001.02076/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \\textit{i}) grasping from the centroid of object and \\textit{ii}) grasping along the major axis of the object often fails for complex-shaped objects. In this paper, a real-time grasp pose estimation strategy for novel objects in robotic pick and place applications is proposed. The proposed technique estimates the object contour in the point cloud and predicts the grasp pose along with the objec","authors_text":"Laxmidhar Behera, Mohit Vohra, Ravi Prakash","cross_cats":["eess.IV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-03T05:41:11Z","title":"Real-time Grasp Pose Estimation for Novel Objects in Densely Cluttered Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.02076","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:df9d99d0bf9f8594ea6c3fd723d4b8429caaec8773653dbe12b9918427b94b8c","target":"record","created_at":"2026-07-05T00:30:43Z","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":"2c282d5a0b238e5add451dc3b2c374e01bab9ece4bee2b632ea5c766afee8e9b","cross_cats_sorted":["eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-03T05:41:11Z","title_canon_sha256":"f0f4f23981af3f2e8789a185ad4dbfd383ca76a9d0286e044a206ed9a5007d33"},"schema_version":"1.0","source":{"id":"2001.02076","kind":"arxiv","version":1}},"canonical_sha256":"b13401c5645293aab03757df4947a2bedcaa4386aa546d90c586e4ff8ff42b31","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b13401c5645293aab03757df4947a2bedcaa4386aa546d90c586e4ff8ff42b31","first_computed_at":"2026-07-05T00:30:43.698046Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:30:43.698046Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"q6U4IgBPeQ2rUS5aXKzFN2D/ewYHkPmLxJl4jmJflP13G672ADAKUvKzrNJuAGgKM80TMHNJfixH1ik5EuooAg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:30:43.698473Z","signed_message":"canonical_sha256_bytes"},"source_id":"2001.02076","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:df9d99d0bf9f8594ea6c3fd723d4b8429caaec8773653dbe12b9918427b94b8c","sha256:dc39a621bc1d76eac84a85f00b269c563c570b4a12ccbe443e93209cd3ec1470"],"state_sha256":"6552c8efc83bb45939158f22d927025a08f703d05ab06c94012176af4885c869"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9RFisOLrV+WCeY2YDnD1RzHsgRxamtzsAp7IFXRy0tvKpoSphQoA5+BgeTfVLQswmvpcbrzE4J0zOVHIQM/zCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T08:42:05.196609Z","bundle_sha256":"1548e88aeeb5447f15fba3d6871961ec93cc133a381cfa5fff40a3874c49c44a"}}