{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WUCC3SJDHXGJWDMEG2RR62YTXY","short_pith_number":"pith:WUCC3SJD","canonical_record":{"source":{"id":"2412.05507","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-07T02:40:55Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"de8e2f8d8dc97749c169571975440532878ee5a856d8b7bcf6de6b9120139a22","abstract_canon_sha256":"75a62e16e6141762d6f692bcc711e7fbdab49e1eb74f8893aaacfac9de65f57c"},"schema_version":"1.0"},"canonical_sha256":"b5042dc9233dcc9b0d8436a31f6b13be3388404b51bade71d771a5944d870974","source":{"kind":"arxiv","id":"2412.05507","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.05507","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"arxiv_version","alias_value":"2412.05507v2","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.05507","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_12","alias_value":"WUCC3SJDHXGJ","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_16","alias_value":"WUCC3SJDHXGJWDME","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_8","alias_value":"WUCC3SJD","created_at":"2026-07-05T11:02:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WUCC3SJDHXGJWDMEG2RR62YTXY","target":"record","payload":{"canonical_record":{"source":{"id":"2412.05507","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-07T02:40:55Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"de8e2f8d8dc97749c169571975440532878ee5a856d8b7bcf6de6b9120139a22","abstract_canon_sha256":"75a62e16e6141762d6f692bcc711e7fbdab49e1eb74f8893aaacfac9de65f57c"},"schema_version":"1.0"},"canonical_sha256":"b5042dc9233dcc9b0d8436a31f6b13be3388404b51bade71d771a5944d870974","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:02:40.741622Z","signature_b64":"CrqD+EJr0lZ13kgTmPIr25UhjyqJ3+86XLv/P+XSW3p4qnPyd9RZrSIxhlFOxHmWLvW0Pl+Q8+zE+yIlyHkqAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5042dc9233dcc9b0d8436a31f6b13be3388404b51bade71d771a5944d870974","last_reissued_at":"2026-07-05T11:02:40.741119Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:02:40.741119Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.05507","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":"2026-07-05T11:02:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rVrDpU2DCJ1RH2m/wu4AYpD4zOZfNUt9FTVhMlj1ZwLdWWLMJSTXSabbfXkA3fCbSIv4BKmWjHR212RQ9lSQCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T19:55:26.426414Z"},"content_sha256":"89721aa9f749dcd179ce0fdbf2c50c97af3b3bc2d28c98863359757c721da9c4","schema_version":"1.0","event_id":"sha256:89721aa9f749dcd179ce0fdbf2c50c97af3b3bc2d28c98863359757c721da9c4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WUCC3SJDHXGJWDMEG2RR62YTXY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using Cluster Registration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Hod Lipson, Jialong Ning, Jiong Lin, Judah Goldfeder, Kwansoo Lee, Lechen Zhang","submitted_at":"2024-12-07T02:40:55Z","abstract_excerpt":"Robot description models are essential for simulation and control, yet their creation often requires significant manual effort. To streamline this modeling process, we introduce AutoURDF, an unsupervised approach for constructing description files for unseen robots from point cloud frames. Our method leverages a cluster-based point cloud registration model that tracks the 6-DoF transformations of point clusters. Through analyzing cluster movements, we hierarchically address the following challenges: (1) moving part segmentation, (2) body topology inference, and (3) joint parameter estimation. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.05507","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/2412.05507/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":"2026-07-05T11:02:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iJTlZppEEEZTQPQOInSpHlYxbboAqIQ0FgNWcS4EX8rwEV32UtdkJ7qTaWE+1AZNvekpxx0XkLcJom230Z2WCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T19:55:26.427312Z"},"content_sha256":"af71a3d10d190abf57d316b71d7e3ddc3acc7f0adab88194d65cf5c4d6ad6288","schema_version":"1.0","event_id":"sha256:af71a3d10d190abf57d316b71d7e3ddc3acc7f0adab88194d65cf5c4d6ad6288"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/bundle.json","state_url":"https://pith.science/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/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":"2026-08-07T19:55:26Z","links":{"resolver":"https://pith.science/pith/WUCC3SJDHXGJWDMEG2RR62YTXY","bundle":"https://pith.science/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/bundle.json","state":"https://pith.science/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WUCC3SJDHXGJWDMEG2RR62YTXY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WUCC3SJDHXGJWDMEG2RR62YTXY","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":"75a62e16e6141762d6f692bcc711e7fbdab49e1eb74f8893aaacfac9de65f57c","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-07T02:40:55Z","title_canon_sha256":"de8e2f8d8dc97749c169571975440532878ee5a856d8b7bcf6de6b9120139a22"},"schema_version":"1.0","source":{"id":"2412.05507","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.05507","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"arxiv_version","alias_value":"2412.05507v2","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.05507","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_12","alias_value":"WUCC3SJDHXGJ","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_16","alias_value":"WUCC3SJDHXGJWDME","created_at":"2026-07-05T11:02:40Z"},{"alias_kind":"pith_short_8","alias_value":"WUCC3SJD","created_at":"2026-07-05T11:02:40Z"}],"graph_snapshots":[{"event_id":"sha256:af71a3d10d190abf57d316b71d7e3ddc3acc7f0adab88194d65cf5c4d6ad6288","target":"graph","created_at":"2026-07-05T11:02:40Z","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/2412.05507/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot description models are essential for simulation and control, yet their creation often requires significant manual effort. To streamline this modeling process, we introduce AutoURDF, an unsupervised approach for constructing description files for unseen robots from point cloud frames. Our method leverages a cluster-based point cloud registration model that tracks the 6-DoF transformations of point clusters. Through analyzing cluster movements, we hierarchically address the following challenges: (1) moving part segmentation, (2) body topology inference, and (3) joint parameter estimation. ","authors_text":"Hod Lipson, Jialong Ning, Jiong Lin, Judah Goldfeder, Kwansoo Lee, Lechen Zhang","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-07T02:40:55Z","title":"AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using Cluster Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.05507","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":"sha256:89721aa9f749dcd179ce0fdbf2c50c97af3b3bc2d28c98863359757c721da9c4","target":"record","created_at":"2026-07-05T11:02:40Z","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":"75a62e16e6141762d6f692bcc711e7fbdab49e1eb74f8893aaacfac9de65f57c","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-07T02:40:55Z","title_canon_sha256":"de8e2f8d8dc97749c169571975440532878ee5a856d8b7bcf6de6b9120139a22"},"schema_version":"1.0","source":{"id":"2412.05507","kind":"arxiv","version":2}},"canonical_sha256":"b5042dc9233dcc9b0d8436a31f6b13be3388404b51bade71d771a5944d870974","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b5042dc9233dcc9b0d8436a31f6b13be3388404b51bade71d771a5944d870974","first_computed_at":"2026-07-05T11:02:40.741119Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:02:40.741119Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CrqD+EJr0lZ13kgTmPIr25UhjyqJ3+86XLv/P+XSW3p4qnPyd9RZrSIxhlFOxHmWLvW0Pl+Q8+zE+yIlyHkqAw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:02:40.741622Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.05507","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:89721aa9f749dcd179ce0fdbf2c50c97af3b3bc2d28c98863359757c721da9c4","sha256:af71a3d10d190abf57d316b71d7e3ddc3acc7f0adab88194d65cf5c4d6ad6288"],"state_sha256":"572d7c787001ba1b402602b6fcc5373445f3d62ab36c6370d5eab55de297310d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ljwJGlQw27Aa9n/q6IYUa5amY5dWylKzUxI8wQN/EZsSqcPFwYjoo0OdBHIkz68JPFiZTQNv/AWGlYONlTOLAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T19:55:26.434288Z","bundle_sha256":"12fb7d3c155d28d78b38e8f5be6b8aead8f71fc8f752f1493bae6e8a60484cea"}}