{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WHROK2EBCTTVLYKZMWJHH473UJ","short_pith_number":"pith:WHROK2EB","canonical_record":{"source":{"id":"2409.10441","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T16:22:43Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"ddbe7f767df141a77f831826baa7a2ec263fd1c2e74eed67d2bf2cb3046b49a3","abstract_canon_sha256":"3447dde70c6f68379bcb5993088eeeccfa8048de7d80ffae7cf0cf97d28e50ad"},"schema_version":"1.0"},"canonical_sha256":"b1e2e5688114e755e159659273f3fba2536d93651e9c3cdcf621eec1966b85e9","source":{"kind":"arxiv","id":"2409.10441","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10441","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10441v1","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10441","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_12","alias_value":"WHROK2EBCTTV","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_16","alias_value":"WHROK2EBCTTVLYKZ","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_8","alias_value":"WHROK2EB","created_at":"2026-07-05T09:07:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WHROK2EBCTTVLYKZMWJHH473UJ","target":"record","payload":{"canonical_record":{"source":{"id":"2409.10441","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T16:22:43Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"ddbe7f767df141a77f831826baa7a2ec263fd1c2e74eed67d2bf2cb3046b49a3","abstract_canon_sha256":"3447dde70c6f68379bcb5993088eeeccfa8048de7d80ffae7cf0cf97d28e50ad"},"schema_version":"1.0"},"canonical_sha256":"b1e2e5688114e755e159659273f3fba2536d93651e9c3cdcf621eec1966b85e9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:07:40.149986Z","signature_b64":"aiWMiz34s3NCawOoiZzvinQ7c2qoqs5siA+yjlxG5V2l2xOTYFkZU6wPSLNsp/VO7+Iy7r2u2ZXDzo4zCkxvDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1e2e5688114e755e159659273f3fba2536d93651e9c3cdcf621eec1966b85e9","last_reissued_at":"2026-07-05T09:07:40.149491Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:07:40.149491Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.10441","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":"2026-07-05T09:07:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xb9fWq1zW2AiFOPwzLEDFLRctCYnHIxCXDk84vV7FkUE7Imdl1plsp8qYYAor+W311O0MIhJ5uZYX8ZgkDZWBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T14:08:03.777458Z"},"content_sha256":"b076662d086ef31b02a0dd57b52cdb88d389906a31c20254c0554617eb8278d0","schema_version":"1.0","event_id":"sha256:b076662d086ef31b02a0dd57b52cdb88d389906a31c20254c0554617eb8278d0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WHROK2EBCTTVLYKZMWJHH473UJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Florian Ritcher, Jingpei Lu, Michael C. Yip, Sainan Liu, Shan Lin, Tristin Xie, Zekai Liang","submitted_at":"2024-09-16T16:22:43Z","abstract_excerpt":"Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for camera-to-robot calibration. While the existing markerless pose estimation methods have demonstrated impressive accuracy without the need for cumbersome setups, they rely on the assumption that all the robot joints are visible within the camera's field of view. However, in practice, robots usually move in and out of view, and some portion of the robot may stay out-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10441","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/2409.10441/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":"2026-07-05T09:07:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IyLU8vqkdAdlBefx4aLC1ZyWAajCC1EhsNLaRIuMxSmYW8qmaH01D3TDFCg87oQtb0We4uDTuVyw7uEIKmtfDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T14:08:03.778012Z"},"content_sha256":"c5603eb7990da625f128e588ef1af220a83521ac0a86623d7388d248f13ff546","schema_version":"1.0","event_id":"sha256:c5603eb7990da625f128e588ef1af220a83521ac0a86623d7388d248f13ff546"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WHROK2EBCTTVLYKZMWJHH473UJ/bundle.json","state_url":"https://pith.science/pith/WHROK2EBCTTVLYKZMWJHH473UJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WHROK2EBCTTVLYKZMWJHH473UJ/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":"2026-08-04T14:08:03Z","links":{"resolver":"https://pith.science/pith/WHROK2EBCTTVLYKZMWJHH473UJ","bundle":"https://pith.science/pith/WHROK2EBCTTVLYKZMWJHH473UJ/bundle.json","state":"https://pith.science/pith/WHROK2EBCTTVLYKZMWJHH473UJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WHROK2EBCTTVLYKZMWJHH473UJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WHROK2EBCTTVLYKZMWJHH473UJ","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":"3447dde70c6f68379bcb5993088eeeccfa8048de7d80ffae7cf0cf97d28e50ad","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T16:22:43Z","title_canon_sha256":"ddbe7f767df141a77f831826baa7a2ec263fd1c2e74eed67d2bf2cb3046b49a3"},"schema_version":"1.0","source":{"id":"2409.10441","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10441","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10441v1","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10441","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_12","alias_value":"WHROK2EBCTTV","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_16","alias_value":"WHROK2EBCTTVLYKZ","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_8","alias_value":"WHROK2EB","created_at":"2026-07-05T09:07:40Z"}],"graph_snapshots":[{"event_id":"sha256:c5603eb7990da625f128e588ef1af220a83521ac0a86623d7388d248f13ff546","target":"graph","created_at":"2026-07-05T09:07:40Z","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/2409.10441/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for camera-to-robot calibration. While the existing markerless pose estimation methods have demonstrated impressive accuracy without the need for cumbersome setups, they rely on the assumption that all the robot joints are visible within the camera's field of view. However, in practice, robots usually move in and out of view, and some portion of the robot may stay out-","authors_text":"Florian Ritcher, Jingpei Lu, Michael C. Yip, Sainan Liu, Shan Lin, Tristin Xie, Zekai Liang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T16:22:43Z","title":"CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10441","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:b076662d086ef31b02a0dd57b52cdb88d389906a31c20254c0554617eb8278d0","target":"record","created_at":"2026-07-05T09:07:40Z","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":"3447dde70c6f68379bcb5993088eeeccfa8048de7d80ffae7cf0cf97d28e50ad","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T16:22:43Z","title_canon_sha256":"ddbe7f767df141a77f831826baa7a2ec263fd1c2e74eed67d2bf2cb3046b49a3"},"schema_version":"1.0","source":{"id":"2409.10441","kind":"arxiv","version":1}},"canonical_sha256":"b1e2e5688114e755e159659273f3fba2536d93651e9c3cdcf621eec1966b85e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1e2e5688114e755e159659273f3fba2536d93651e9c3cdcf621eec1966b85e9","first_computed_at":"2026-07-05T09:07:40.149491Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:07:40.149491Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aiWMiz34s3NCawOoiZzvinQ7c2qoqs5siA+yjlxG5V2l2xOTYFkZU6wPSLNsp/VO7+Iy7r2u2ZXDzo4zCkxvDw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:07:40.149986Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.10441","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b076662d086ef31b02a0dd57b52cdb88d389906a31c20254c0554617eb8278d0","sha256:c5603eb7990da625f128e588ef1af220a83521ac0a86623d7388d248f13ff546"],"state_sha256":"de6f190219d38ae137c6fb831711ac8afc0f7fe257d8581048ff30b324284874"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hIaEwdlbMa46v5Vau7lfyDslBMkMMde0yw7xNJSMWTIVUSVACEU/UhJstoy7Iz16Bmw+eUbUoICjeAbpTGH3DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T14:08:03.818794Z","bundle_sha256":"f96b4f05c0003366a5546cfd63d373a536edc48dbc55154dae94f9f8d30052d1"}}