Pith Number

pith:IG54WQMX

pith:2026:IG54WQMXVLQTSSSLDU6K5NPB2G

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Pickalo: Leveraging 6D Pose Estimation for Low-Cost Industrial Bin Picking

Alessandro Tarsi, Matteo Mastrogiuseppe, Saverio Taliani, Simone Cortinovis, Ugo Pattacini

Pickalo shows that a low-cost RGB-D pipeline with 6D pose estimation from synthetic data can reach 600 mean picks per hour and 96-99% grasp success in dense industrial bins.

arxiv:2604.04690 v2 · 2026-04-06 · cs.RO · cs.AI

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\pithnumber{IG54WQMXVLQTSSSLDU6K5NPB2G}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Deployed on a UR5e with a parallel-jaw gripper and an Intel RealSense D435i, Pickalo achieves up to 600 mean picks per hour with 96-99% grasp success and robust performance over 30-minute runs on densely filled euroboxes.

C2weakest assumption

That the Mask-RCNN model trained purely on photorealistic synthetic data combined with the zero-shot SAM-6D estimator will produce sufficiently accurate 6D poses in real cluttered, occluded industrial scenes without additional real-world fine-tuning or domain adaptation.

C3one line summary

Pickalo delivers up to 600 picks per hour at 96-99% success using only low-cost RGB-D hardware, synthetic-trained Mask-RCNN, and SAM-6D pose estimation on a UR5e robot in dense eurobox scenes.

Formal links

1 machine-checked theorem link

Receipt and verification

First computed	2026-07-14T01:20:58.333415Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

41bbcb4197aae1394a4b1d3caeb5e1d189a627358407a02ade41a747745f74fe

Aliases

arxiv: 2604.04690 · arxiv_version: 2604.04690v2 · doi: 10.48550/arxiv.2604.04690 · pith_short_12: IG54WQMXVLQT · pith_short_16: IG54WQMXVLQTSSSL · pith_short_8: IG54WQMX

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IG54WQMXVLQTSSSLDU6K5NPB2G \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 41bbcb4197aae1394a4b1d3caeb5e1d189a627358407a02ade41a747745f74fe

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c6f6defbfb7a65c437e66485b10b4933cb28f59783b4477debb0fff50ca8d83e",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-06T13:56:57Z",
    "title_canon_sha256": "57b1948998a1f1428e7da2ec6484466fdac285a1a1cc30958cce723d2d884409"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.04690",
    "kind": "arxiv",
    "version": 2
  }
}