{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:7M3DQUT3HP6FHX2LLHCS5VMRVX","short_pith_number":"pith:7M3DQUT3","canonical_record":{"source":{"id":"1710.08577","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-24T02:13:17Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"b5678e16fddea122c206020dfa5fa16032d2de69342d4f7aea4891c167975126","abstract_canon_sha256":"e20375120bd98729bd31dc195dda38b40a48d56abb857a5ce6e202ef5402b98a"},"schema_version":"1.0"},"canonical_sha256":"fb3638527b3bfc53df4b59c52ed591add3dec84ab61565ba32bdc5d1dfe11e4d","source":{"kind":"arxiv","id":"1710.08577","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.08577","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"arxiv_version","alias_value":"1710.08577v1","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.08577","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"pith_short_12","alias_value":"7M3DQUT3HP6F","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_16","alias_value":"7M3DQUT3HP6FHX2L","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_8","alias_value":"7M3DQUT3","created_at":"2026-05-18T12:31:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:7M3DQUT3HP6FHX2LLHCS5VMRVX","target":"record","payload":{"canonical_record":{"source":{"id":"1710.08577","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-24T02:13:17Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"b5678e16fddea122c206020dfa5fa16032d2de69342d4f7aea4891c167975126","abstract_canon_sha256":"e20375120bd98729bd31dc195dda38b40a48d56abb857a5ce6e202ef5402b98a"},"schema_version":"1.0"},"canonical_sha256":"fb3638527b3bfc53df4b59c52ed591add3dec84ab61565ba32bdc5d1dfe11e4d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:32:04.453900Z","signature_b64":"zWjlkZrNbFtP8USP0adWNtV2yh6vxJIC3+O0pZrmvDxNRfL8oWwJaf9QUuEC1KYZlav5UMOj+cHvLJnUcpwGDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fb3638527b3bfc53df4b59c52ed591add3dec84ab61565ba32bdc5d1dfe11e4d","last_reissued_at":"2026-05-18T00:32:04.453230Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:32:04.453230Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1710.08577","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":"2026-05-18T00:32:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5NN97AaNrvLyKoS80fi1sVIEEf3Zq1qygDwm/JvH7WsUHlhRLf2UoHKB1xjK9Jw7EkU5QYAXknnLuR7RWXL+DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:30:25.386109Z"},"content_sha256":"4bef8fb8fecfa4adc09fa5f6496e7625e3e61bd2f6af39b82ce721c5a6a3000f","schema_version":"1.0","event_id":"sha256:4bef8fb8fecfa4adc09fa5f6496e7625e3e61bd2f6af39b82ce721c5a6a3000f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:7M3DQUT3HP6FHX2LLHCS5VMRVX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Abdeslam Boularias, Chaitanya Mitash, Kostas E. Bekris","submitted_at":"2017-10-24T02:13:17Z","abstract_excerpt":"This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate object poses is generated from state-of-the-art object detection and global point cloud registration techniques. The best-scored pose per object by using these techniques may not be accurate due to overlaps and occlusions. Nevertheless, experimental indications provided in this work show that object poses with lower ranks may be closer to the real poses than "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.08577","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":"2026-05-18T00:32:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dBxK+CM4gVYD+tQcPPnQkQ/WnoM7rIBjmytXfolOT5yDl5DhmSGDj1bUBIHzfH2HBjdqZ2NNIzdd2Ze6kvT3Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:30:25.386498Z"},"content_sha256":"f73efb5bd973473e8417d1bb238ec7eff5cca72dc37e8faf85f3e74957e3b20e","schema_version":"1.0","event_id":"sha256:f73efb5bd973473e8417d1bb238ec7eff5cca72dc37e8faf85f3e74957e3b20e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/bundle.json","state_url":"https://pith.science/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/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":"2026-07-07T05:30:25Z","links":{"resolver":"https://pith.science/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX","bundle":"https://pith.science/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/bundle.json","state":"https://pith.science/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7M3DQUT3HP6FHX2LLHCS5VMRVX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:7M3DQUT3HP6FHX2LLHCS5VMRVX","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":"e20375120bd98729bd31dc195dda38b40a48d56abb857a5ce6e202ef5402b98a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-24T02:13:17Z","title_canon_sha256":"b5678e16fddea122c206020dfa5fa16032d2de69342d4f7aea4891c167975126"},"schema_version":"1.0","source":{"id":"1710.08577","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.08577","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"arxiv_version","alias_value":"1710.08577v1","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.08577","created_at":"2026-05-18T00:32:04Z"},{"alias_kind":"pith_short_12","alias_value":"7M3DQUT3HP6F","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_16","alias_value":"7M3DQUT3HP6FHX2L","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_8","alias_value":"7M3DQUT3","created_at":"2026-05-18T12:31:05Z"}],"graph_snapshots":[{"event_id":"sha256:f73efb5bd973473e8417d1bb238ec7eff5cca72dc37e8faf85f3e74957e3b20e","target":"graph","created_at":"2026-05-18T00:32:04Z","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":"This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate object poses is generated from state-of-the-art object detection and global point cloud registration techniques. The best-scored pose per object by using these techniques may not be accurate due to overlaps and occlusions. Nevertheless, experimental indications provided in this work show that object poses with lower ranks may be closer to the real poses than ","authors_text":"Abdeslam Boularias, Chaitanya Mitash, Kostas E. Bekris","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-24T02:13:17Z","title":"Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.08577","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":"sha256:4bef8fb8fecfa4adc09fa5f6496e7625e3e61bd2f6af39b82ce721c5a6a3000f","target":"record","created_at":"2026-05-18T00:32:04Z","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":"e20375120bd98729bd31dc195dda38b40a48d56abb857a5ce6e202ef5402b98a","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-24T02:13:17Z","title_canon_sha256":"b5678e16fddea122c206020dfa5fa16032d2de69342d4f7aea4891c167975126"},"schema_version":"1.0","source":{"id":"1710.08577","kind":"arxiv","version":1}},"canonical_sha256":"fb3638527b3bfc53df4b59c52ed591add3dec84ab61565ba32bdc5d1dfe11e4d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fb3638527b3bfc53df4b59c52ed591add3dec84ab61565ba32bdc5d1dfe11e4d","first_computed_at":"2026-05-18T00:32:04.453230Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:32:04.453230Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zWjlkZrNbFtP8USP0adWNtV2yh6vxJIC3+O0pZrmvDxNRfL8oWwJaf9QUuEC1KYZlav5UMOj+cHvLJnUcpwGDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:32:04.453900Z","signed_message":"canonical_sha256_bytes"},"source_id":"1710.08577","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4bef8fb8fecfa4adc09fa5f6496e7625e3e61bd2f6af39b82ce721c5a6a3000f","sha256:f73efb5bd973473e8417d1bb238ec7eff5cca72dc37e8faf85f3e74957e3b20e"],"state_sha256":"556c2647f08756070e0c5b849532142f28f0cb31ab3ee4a42c98f32c60da3c68"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r/X0IoFLph0dm3zdFPfSXF6YIFdDCH0DItb7DBJCUK5Nu1jJR6QpsB4MXuj02ZSAkvae3vr5J3jX38FPeowABw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:30:25.389430Z","bundle_sha256":"e320ced05d38f493b7eedc61687b7ed39bd705874f1bf57aba7809839e856534"}}