{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:WFFXRQLD7KQGMS2D6D32P7YEZU","short_pith_number":"pith:WFFXRQLD","canonical_record":{"source":{"id":"1509.05636","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-18T14:17:57Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a6689334db2bd34780aa3d0d1bbb051b0a7e48efcbf2a89c89167bd6c3c3387e","abstract_canon_sha256":"226dcd7b02151457e409fcdc73647b279247e81f5d9973cb7ab2af070844ea9d"},"schema_version":"1.0"},"canonical_sha256":"b14b78c163faa0664b43f0f7a7ff04cd3f7b6665727941d19e92089a39671835","source":{"kind":"arxiv","id":"1509.05636","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.05636","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"arxiv_version","alias_value":"1509.05636v1","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.05636","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"pith_short_12","alias_value":"WFFXRQLD7KQG","created_at":"2026-05-18T12:29:47Z"},{"alias_kind":"pith_short_16","alias_value":"WFFXRQLD7KQGMS2D","created_at":"2026-05-18T12:29:47Z"},{"alias_kind":"pith_short_8","alias_value":"WFFXRQLD","created_at":"2026-05-18T12:29:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:WFFXRQLD7KQGMS2D6D32P7YEZU","target":"record","payload":{"canonical_record":{"source":{"id":"1509.05636","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-18T14:17:57Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a6689334db2bd34780aa3d0d1bbb051b0a7e48efcbf2a89c89167bd6c3c3387e","abstract_canon_sha256":"226dcd7b02151457e409fcdc73647b279247e81f5d9973cb7ab2af070844ea9d"},"schema_version":"1.0"},"canonical_sha256":"b14b78c163faa0664b43f0f7a7ff04cd3f7b6665727941d19e92089a39671835","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:32:42.722570Z","signature_b64":"lRx4Ge15fjujIqVcCU9JAlbddXBGD0aJDR9xIxuROBbZRPUdKbC4WdgBcTH2DnzY8wRvqOW3FlvAnNkE9sylDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b14b78c163faa0664b43f0f7a7ff04cd3f7b6665727941d19e92089a39671835","last_reissued_at":"2026-05-18T01:32:42.722107Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:32:42.722107Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1509.05636","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":"2026-05-18T01:32:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"18l/PkiGcy9JXS3AKJZdWDj5C5zk8Hi/DK9/F/7rrXLyt3h8zyDZibPpYzyNeXpt1OeesjCsx4qkWb+P8zBBCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T03:32:43.832813Z"},"content_sha256":"ccb0b1e2a6b13ebc0fd29c0d642aec9371a549fff78057d31469ffbf34ffa31d","schema_version":"1.0","event_id":"sha256:ccb0b1e2a6b13ebc0fd29c0d642aec9371a549fff78057d31469ffbf34ffa31d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:WFFXRQLD7KQGMS2D6D32P7YEZU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual Generalized Coordinates","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Amitabha Mukerjee, Arindam Chakraborty, M. Seetha Ramaiah, Sadbodh Sharma","submitted_at":"2015-09-18T14:17:57Z","abstract_excerpt":"An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving generalized coordinates from $n$ images of the robot. We show that the space of such images is bijective to the motion space, so these images lie on a manifold $\\mathcal{V}$ homeomorphic to the canonical C-space. We now approximate this manifold as a set of $n$ neighbourhood tangent spaces that result in a graph, which we call the Visual Roadmap (VRM). Given a new rob"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.05636","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":""},"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":"2026-05-18T01:32:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LA+AFHFWBI2PSnD2DTQ+up7AvNvq4qGANHPLe0toAacvvqDaW0u9xKAmyp2poKxkqC0/pSsIMQqTZSms5CT7Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T03:32:43.833472Z"},"content_sha256":"d36f8ed941e7d2629e6c1a322fae33c9743af8508f19d43d28803d5906b88411","schema_version":"1.0","event_id":"sha256:d36f8ed941e7d2629e6c1a322fae33c9743af8508f19d43d28803d5906b88411"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/bundle.json","state_url":"https://pith.science/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/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":"2026-06-24T03:32:43Z","links":{"resolver":"https://pith.science/pith/WFFXRQLD7KQGMS2D6D32P7YEZU","bundle":"https://pith.science/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/bundle.json","state":"https://pith.science/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WFFXRQLD7KQGMS2D6D32P7YEZU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:WFFXRQLD7KQGMS2D6D32P7YEZU","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":"226dcd7b02151457e409fcdc73647b279247e81f5d9973cb7ab2af070844ea9d","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-18T14:17:57Z","title_canon_sha256":"a6689334db2bd34780aa3d0d1bbb051b0a7e48efcbf2a89c89167bd6c3c3387e"},"schema_version":"1.0","source":{"id":"1509.05636","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.05636","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"arxiv_version","alias_value":"1509.05636v1","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.05636","created_at":"2026-05-18T01:32:42Z"},{"alias_kind":"pith_short_12","alias_value":"WFFXRQLD7KQG","created_at":"2026-05-18T12:29:47Z"},{"alias_kind":"pith_short_16","alias_value":"WFFXRQLD7KQGMS2D","created_at":"2026-05-18T12:29:47Z"},{"alias_kind":"pith_short_8","alias_value":"WFFXRQLD","created_at":"2026-05-18T12:29:47Z"}],"graph_snapshots":[{"event_id":"sha256:d36f8ed941e7d2629e6c1a322fae33c9743af8508f19d43d28803d5906b88411","target":"graph","created_at":"2026-05-18T01:32:42Z","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":"An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving generalized coordinates from $n$ images of the robot. We show that the space of such images is bijective to the motion space, so these images lie on a manifold $\\mathcal{V}$ homeomorphic to the canonical C-space. We now approximate this manifold as a set of $n$ neighbourhood tangent spaces that result in a graph, which we call the Visual Roadmap (VRM). Given a new rob","authors_text":"Amitabha Mukerjee, Arindam Chakraborty, M. Seetha Ramaiah, Sadbodh Sharma","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-18T14:17:57Z","title":"Visual Generalized Coordinates"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.05636","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:ccb0b1e2a6b13ebc0fd29c0d642aec9371a549fff78057d31469ffbf34ffa31d","target":"record","created_at":"2026-05-18T01:32:42Z","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":"226dcd7b02151457e409fcdc73647b279247e81f5d9973cb7ab2af070844ea9d","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-09-18T14:17:57Z","title_canon_sha256":"a6689334db2bd34780aa3d0d1bbb051b0a7e48efcbf2a89c89167bd6c3c3387e"},"schema_version":"1.0","source":{"id":"1509.05636","kind":"arxiv","version":1}},"canonical_sha256":"b14b78c163faa0664b43f0f7a7ff04cd3f7b6665727941d19e92089a39671835","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b14b78c163faa0664b43f0f7a7ff04cd3f7b6665727941d19e92089a39671835","first_computed_at":"2026-05-18T01:32:42.722107Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:32:42.722107Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lRx4Ge15fjujIqVcCU9JAlbddXBGD0aJDR9xIxuROBbZRPUdKbC4WdgBcTH2DnzY8wRvqOW3FlvAnNkE9sylDg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:32:42.722570Z","signed_message":"canonical_sha256_bytes"},"source_id":"1509.05636","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ccb0b1e2a6b13ebc0fd29c0d642aec9371a549fff78057d31469ffbf34ffa31d","sha256:d36f8ed941e7d2629e6c1a322fae33c9743af8508f19d43d28803d5906b88411"],"state_sha256":"a5f257786ccda8b657fce004b03f96d651619e974bb6ede5a2b74fe1391cb5d4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yE1BVWGN2WxAUxRw9OpdT236S/UKhmYDopgese51Q7Xm3pJk6BBVsWJpN4uVnw3RulPaTZ9jxU5fa5u6iESwDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-24T03:32:43.836585Z","bundle_sha256":"670bb0c8ffc9e96deebe7caf36814023ecfd2ef958e64172b4749679ac4bcc63"}}