{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:WWRO4IVJSFPA3BYXRHHBGRKXO3","short_pith_number":"pith:WWRO4IVJ","schema_version":"1.0","canonical_sha256":"b5a2ee22a9915e0d871789ce13455776cb5502d7fd3c57da88817696b2c753ed","source":{"kind":"arxiv","id":"2606.21788","version":1},"attestation_state":"computed","paper":{"title":"Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Karthik Dantu, Yashom Dighe","submitted_at":"2026-06-19T22:38:51Z","abstract_excerpt":"Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D pose at test time, the policy is given the desired 3D geometry of the object. Yet raw point-cloud goal conditioning is poorly conditioned for policy learning. Current and goal clouds are unordered, independently sampled, and often visibility-dependent, so their discrepancy entangles object rotation with permutation, resampling, and unstable correspondence structure. For this reason, prior point-cloud manipulation methods typically add structure o"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.21788","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T22:38:51Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"7a81a66e89e5453e1a96c4422bffcc9986ccf8a2c88bd5ae8f8aeed750ebad2b","abstract_canon_sha256":"ea0465a60eb2f8680950ea0180f98f75dbe4ff7a5d848fd545c776990b4dfe5e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T01:13:22.718036Z","signature_b64":"KCeCJ6HXWFvUKeJSiV72s7c6bCKCF1qW9OdyWiHXjTK3AHytFHvxD5+Gr1ik/wi1ysc8kwcSoMRbmRdjqTIPBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5a2ee22a9915e0d871789ce13455776cb5502d7fd3c57da88817696b2c753ed","last_reissued_at":"2026-06-23T01:13:22.717482Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T01:13:22.717482Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Karthik Dantu, Yashom Dighe","submitted_at":"2026-06-19T22:38:51Z","abstract_excerpt":"Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D pose at test time, the policy is given the desired 3D geometry of the object. Yet raw point-cloud goal conditioning is poorly conditioned for policy learning. Current and goal clouds are unordered, independently sampled, and often visibility-dependent, so their discrepancy entangles object rotation with permutation, resampling, and unstable correspondence structure. For this reason, prior point-cloud manipulation methods typically add structure o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.21788","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/2606.21788/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.21788","created_at":"2026-06-23T01:13:22.717574+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.21788v1","created_at":"2026-06-23T01:13:22.717574+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.21788","created_at":"2026-06-23T01:13:22.717574+00:00"},{"alias_kind":"pith_short_12","alias_value":"WWRO4IVJSFPA","created_at":"2026-06-23T01:13:22.717574+00:00"},{"alias_kind":"pith_short_16","alias_value":"WWRO4IVJSFPA3BYX","created_at":"2026-06-23T01:13:22.717574+00:00"},{"alias_kind":"pith_short_8","alias_value":"WWRO4IVJ","created_at":"2026-06-23T01:13:22.717574+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3","json":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3.json","graph_json":"https://pith.science/api/pith-number/WWRO4IVJSFPA3BYXRHHBGRKXO3/graph.json","events_json":"https://pith.science/api/pith-number/WWRO4IVJSFPA3BYXRHHBGRKXO3/events.json","paper":"https://pith.science/paper/WWRO4IVJ"},"agent_actions":{"view_html":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3","download_json":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3.json","view_paper":"https://pith.science/paper/WWRO4IVJ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.21788&json=true","fetch_graph":"https://pith.science/api/pith-number/WWRO4IVJSFPA3BYXRHHBGRKXO3/graph.json","fetch_events":"https://pith.science/api/pith-number/WWRO4IVJSFPA3BYXRHHBGRKXO3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3/action/storage_attestation","attest_author":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3/action/author_attestation","sign_citation":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3/action/citation_signature","submit_replication":"https://pith.science/pith/WWRO4IVJSFPA3BYXRHHBGRKXO3/action/replication_record"}},"created_at":"2026-06-23T01:13:22.717574+00:00","updated_at":"2026-06-23T01:13:22.717574+00:00"}