{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:27G2QXXVJD3BUBXT7MHNDA7BYM","short_pith_number":"pith:27G2QXXV","canonical_record":{"source":{"id":"2212.08333","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T08:19:40Z","cross_cats_sorted":[],"title_canon_sha256":"5bdbf53bbdbb1047aecdbf79c8e02e2ee411d3040f282ef0907ea45f9f254dd4","abstract_canon_sha256":"d94a26a13c907a2b3ff2f213ebb94bfb83a8fb787a2815572e435f0a536f9ebc"},"schema_version":"1.0"},"canonical_sha256":"d7cda85ef548f61a06f3fb0ed183e1c33e911f01bf3355c555b30801c1074923","source":{"kind":"arxiv","id":"2212.08333","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.08333","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2212.08333v2","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.08333","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"27G2QXXVJD3B","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"27G2QXXVJD3BUBXT","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"27G2QXXV","created_at":"2026-07-05T06:17:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:27G2QXXVJD3BUBXT7MHNDA7BYM","target":"record","payload":{"canonical_record":{"source":{"id":"2212.08333","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T08:19:40Z","cross_cats_sorted":[],"title_canon_sha256":"5bdbf53bbdbb1047aecdbf79c8e02e2ee411d3040f282ef0907ea45f9f254dd4","abstract_canon_sha256":"d94a26a13c907a2b3ff2f213ebb94bfb83a8fb787a2815572e435f0a536f9ebc"},"schema_version":"1.0"},"canonical_sha256":"d7cda85ef548f61a06f3fb0ed183e1c33e911f01bf3355c555b30801c1074923","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:17:43.537622Z","signature_b64":"FjW4c7yKm7klqbWvSuTeJTo4A7hIYlst/S29PXSD/FIe0DoCW6peWn/+sRzJ+AITM0dc6Ke4OIFDJttHwWUQAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d7cda85ef548f61a06f3fb0ed183e1c33e911f01bf3355c555b30801c1074923","last_reissued_at":"2026-07-05T06:17:43.537110Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:17:43.537110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2212.08333","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":"2026-07-05T06:17:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2kZZgzwcxM2KwwtIzyKqkY21/jJJ494KnpcGry2s+Zs63FjZdthwmO9oKcpJRSx+l7wxZk7FWNQ97h16wXu8CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:21:51.000610Z"},"content_sha256":"7d3812cccb1f0b918510f60aca849ad310a7c3b3cd5b69e124a21f32c448dce7","schema_version":"1.0","event_id":"sha256:7d3812cccb1f0b918510f60aca849ad310a7c3b3cd5b69e124a21f32c448dce7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:27G2QXXVJD3BUBXT7MHNDA7BYM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Chenxi Wang, Hao-Shu Fang, Hengxu Yan, Hongjie Fang, Jirong Liu, Minghao Gou, Wenhai Liu, Yichen Xie","submitted_at":"2022-12-16T08:19:40Z","abstract_excerpt":"As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover all these properties for robot grasping. In this paper, we propose AnyGrasp for grasp perception to enable robots these abilities using a parallel gripper. Specifically, we develop a dense supervision strategy with real perception and analytic labels in the spatial-temporal domain. Additional awareness of objects' center-of-mass is incorporated into the lear"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.08333","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/2212.08333/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":"2026-07-05T06:17:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JStHW0DZkRkN6f/aKSs2do9WbKVFFdaj9qBdDP1z9ktguF0Fw1wiEgUmE7V80m1ZvUXBsXK+f1JJ8O0BLTVsCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:21:51.000989Z"},"content_sha256":"49b59c3d54da2b629ab71b94eabe74d41a029d38e670c4aedc64a7ef3381ef84","schema_version":"1.0","event_id":"sha256:49b59c3d54da2b629ab71b94eabe74d41a029d38e670c4aedc64a7ef3381ef84"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/bundle.json","state_url":"https://pith.science/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/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":"2026-08-07T08:21:51Z","links":{"resolver":"https://pith.science/pith/27G2QXXVJD3BUBXT7MHNDA7BYM","bundle":"https://pith.science/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/bundle.json","state":"https://pith.science/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/27G2QXXVJD3BUBXT7MHNDA7BYM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:27G2QXXVJD3BUBXT7MHNDA7BYM","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":"d94a26a13c907a2b3ff2f213ebb94bfb83a8fb787a2815572e435f0a536f9ebc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T08:19:40Z","title_canon_sha256":"5bdbf53bbdbb1047aecdbf79c8e02e2ee411d3040f282ef0907ea45f9f254dd4"},"schema_version":"1.0","source":{"id":"2212.08333","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.08333","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2212.08333v2","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.08333","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"27G2QXXVJD3B","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"27G2QXXVJD3BUBXT","created_at":"2026-07-05T06:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"27G2QXXV","created_at":"2026-07-05T06:17:43Z"}],"graph_snapshots":[{"event_id":"sha256:49b59c3d54da2b629ab71b94eabe74d41a029d38e670c4aedc64a7ef3381ef84","target":"graph","created_at":"2026-07-05T06:17:43Z","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/2212.08333/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover all these properties for robot grasping. In this paper, we propose AnyGrasp for grasp perception to enable robots these abilities using a parallel gripper. Specifically, we develop a dense supervision strategy with real perception and analytic labels in the spatial-temporal domain. Additional awareness of objects' center-of-mass is incorporated into the lear","authors_text":"Cewu Lu, Chenxi Wang, Hao-Shu Fang, Hengxu Yan, Hongjie Fang, Jirong Liu, Minghao Gou, Wenhai Liu, Yichen Xie","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T08:19:40Z","title":"AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.08333","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":"sha256:7d3812cccb1f0b918510f60aca849ad310a7c3b3cd5b69e124a21f32c448dce7","target":"record","created_at":"2026-07-05T06:17:43Z","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":"d94a26a13c907a2b3ff2f213ebb94bfb83a8fb787a2815572e435f0a536f9ebc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T08:19:40Z","title_canon_sha256":"5bdbf53bbdbb1047aecdbf79c8e02e2ee411d3040f282ef0907ea45f9f254dd4"},"schema_version":"1.0","source":{"id":"2212.08333","kind":"arxiv","version":2}},"canonical_sha256":"d7cda85ef548f61a06f3fb0ed183e1c33e911f01bf3355c555b30801c1074923","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d7cda85ef548f61a06f3fb0ed183e1c33e911f01bf3355c555b30801c1074923","first_computed_at":"2026-07-05T06:17:43.537110Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:17:43.537110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FjW4c7yKm7klqbWvSuTeJTo4A7hIYlst/S29PXSD/FIe0DoCW6peWn/+sRzJ+AITM0dc6Ke4OIFDJttHwWUQAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:17:43.537622Z","signed_message":"canonical_sha256_bytes"},"source_id":"2212.08333","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7d3812cccb1f0b918510f60aca849ad310a7c3b3cd5b69e124a21f32c448dce7","sha256:49b59c3d54da2b629ab71b94eabe74d41a029d38e670c4aedc64a7ef3381ef84"],"state_sha256":"fd9fa287c5decf83f6f929050d54bc26a92d113d25e4b6dcfbd2e94e03908c19"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o4t92T9qaWhJAsnscPXpiM/6J9lh7HpEjUFN9I+muWi/+MDpU8IebF2xc0YbFCe74/fpamYgaFEcKKWME7LECg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T08:21:51.003883Z","bundle_sha256":"02dc167ac62bdf4fd0d689aa4717bf9399f07741fecb4da3e9db6d21b6f4127a"}}