{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:XFVTUUAPUTS5MY4TJICPZD6NYO","short_pith_number":"pith:XFVTUUAP","canonical_record":{"source":{"id":"2105.04112","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T04:55:29Z","cross_cats_sorted":[],"title_canon_sha256":"1f76c7f7746b8b1243ca9192168096101238719c83332b7de48fdd654b00ce64","abstract_canon_sha256":"c853634084037e113d236cfa15ed85b86d79ba04b05659e97abf0e4c9cbb2af2"},"schema_version":"1.0"},"canonical_sha256":"b96b3a500fa4e5d663934a04fc8fcdc3a401213318e2720801241bb01296e5ed","source":{"kind":"arxiv","id":"2105.04112","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04112","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04112v2","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04112","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_12","alias_value":"XFVTUUAPUTS5","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_16","alias_value":"XFVTUUAPUTS5MY4T","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_8","alias_value":"XFVTUUAP","created_at":"2026-07-05T03:20:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:XFVTUUAPUTS5MY4TJICPZD6NYO","target":"record","payload":{"canonical_record":{"source":{"id":"2105.04112","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T04:55:29Z","cross_cats_sorted":[],"title_canon_sha256":"1f76c7f7746b8b1243ca9192168096101238719c83332b7de48fdd654b00ce64","abstract_canon_sha256":"c853634084037e113d236cfa15ed85b86d79ba04b05659e97abf0e4c9cbb2af2"},"schema_version":"1.0"},"canonical_sha256":"b96b3a500fa4e5d663934a04fc8fcdc3a401213318e2720801241bb01296e5ed","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:20:36.113354Z","signature_b64":"hik/XoNmtZAse9WC7p4GO3BdT3nwbxE/fCBt7yR3f+i07myqlT5JqWk8BlM+ZZFYSPsuwllnLolgNRP0Ws64BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b96b3a500fa4e5d663934a04fc8fcdc3a401213318e2720801241bb01296e5ed","last_reissued_at":"2026-07-05T03:20:36.112863Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:20:36.112863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.04112","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":"2026-07-05T03:20:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V6CBJJ5sMvzRKaZa5MafZxjoX8sxC6v4oeLT1dDyHPSEqX7eiMGpTfMJo6NMYdPvSf8AqqLE9guH69TlQValCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T20:38:13.601490Z"},"content_sha256":"a795461521ba1fbf292feaa9507af1f239d43f59bf3aa952d91b13d19a033ac1","schema_version":"1.0","event_id":"sha256:a795461521ba1fbf292feaa9507af1f239d43f59bf3aa952d91b13d19a033ac1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:XFVTUUAPUTS5MY4TJICPZD6NYO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dong Li, Jun Yang, Steven L. Waslander, Yizhou Gao","submitted_at":"2021-05-10T04:55:29Z","abstract_excerpt":"In robotic bin-picking applications, the perception of texture-less, highly reflective parts is a valuable but challenging task. The high glossiness can introduce fake edges in RGB images and inaccurate depth measurements especially in heavily cluttered bin scenario. In this paper, we present the ROBI (Reflective Objects in BIns) dataset, a public dataset for 6D object pose estimation and multi-view depth fusion in robotic bin-picking scenarios. The ROBI dataset includes a total of 63 bin-picking scenes captured with two active stereo camera: a high-cost Ensenso sensor and a low-cost RealSense"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04112","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/2105.04112/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":"2026-07-05T03:20:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"51cOFcMvJtPWbh7kfiojixcqgdHyDuD+NTwG8vLjxm0Z/E9SWbhfiagvtSPoFGeS2e4IsP5msHE15tYsQ1RXAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T20:38:13.601850Z"},"content_sha256":"01a8a929653f394480984d0ff021256a29d73444bcabbe618596639722ab6257","schema_version":"1.0","event_id":"sha256:01a8a929653f394480984d0ff021256a29d73444bcabbe618596639722ab6257"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/bundle.json","state_url":"https://pith.science/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/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":"2026-07-13T20:38:13Z","links":{"resolver":"https://pith.science/pith/XFVTUUAPUTS5MY4TJICPZD6NYO","bundle":"https://pith.science/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/bundle.json","state":"https://pith.science/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XFVTUUAPUTS5MY4TJICPZD6NYO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:XFVTUUAPUTS5MY4TJICPZD6NYO","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":"c853634084037e113d236cfa15ed85b86d79ba04b05659e97abf0e4c9cbb2af2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T04:55:29Z","title_canon_sha256":"1f76c7f7746b8b1243ca9192168096101238719c83332b7de48fdd654b00ce64"},"schema_version":"1.0","source":{"id":"2105.04112","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04112","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04112v2","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04112","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_12","alias_value":"XFVTUUAPUTS5","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_16","alias_value":"XFVTUUAPUTS5MY4T","created_at":"2026-07-05T03:20:36Z"},{"alias_kind":"pith_short_8","alias_value":"XFVTUUAP","created_at":"2026-07-05T03:20:36Z"}],"graph_snapshots":[{"event_id":"sha256:01a8a929653f394480984d0ff021256a29d73444bcabbe618596639722ab6257","target":"graph","created_at":"2026-07-05T03:20:36Z","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/2105.04112/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In robotic bin-picking applications, the perception of texture-less, highly reflective parts is a valuable but challenging task. The high glossiness can introduce fake edges in RGB images and inaccurate depth measurements especially in heavily cluttered bin scenario. In this paper, we present the ROBI (Reflective Objects in BIns) dataset, a public dataset for 6D object pose estimation and multi-view depth fusion in robotic bin-picking scenarios. The ROBI dataset includes a total of 63 bin-picking scenes captured with two active stereo camera: a high-cost Ensenso sensor and a low-cost RealSense","authors_text":"Dong Li, Jun Yang, Steven L. Waslander, Yizhou Gao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T04:55:29Z","title":"ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04112","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:a795461521ba1fbf292feaa9507af1f239d43f59bf3aa952d91b13d19a033ac1","target":"record","created_at":"2026-07-05T03:20:36Z","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":"c853634084037e113d236cfa15ed85b86d79ba04b05659e97abf0e4c9cbb2af2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T04:55:29Z","title_canon_sha256":"1f76c7f7746b8b1243ca9192168096101238719c83332b7de48fdd654b00ce64"},"schema_version":"1.0","source":{"id":"2105.04112","kind":"arxiv","version":2}},"canonical_sha256":"b96b3a500fa4e5d663934a04fc8fcdc3a401213318e2720801241bb01296e5ed","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b96b3a500fa4e5d663934a04fc8fcdc3a401213318e2720801241bb01296e5ed","first_computed_at":"2026-07-05T03:20:36.112863Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:20:36.112863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hik/XoNmtZAse9WC7p4GO3BdT3nwbxE/fCBt7yR3f+i07myqlT5JqWk8BlM+ZZFYSPsuwllnLolgNRP0Ws64BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:20:36.113354Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.04112","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a795461521ba1fbf292feaa9507af1f239d43f59bf3aa952d91b13d19a033ac1","sha256:01a8a929653f394480984d0ff021256a29d73444bcabbe618596639722ab6257"],"state_sha256":"6e0ea6e452a69aa2d56e78881de59e13b86c28754a924c4abd794914aa2dc069"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vT6hJyKM+7n7meeEe6H/tXHBcHXYtsT9OaG/S9tBmemKiBaqPQblwOlmNywYhuGW6JEJQW1WDXmU5PyR3cIjBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-13T20:38:13.603926Z","bundle_sha256":"4cb411ba9e33ab5d623a8d21538dd48ff0e56f539fe7c16af57169fbbde131d9"}}