{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:42NIBETUMXCWJD3JQOSJ4DYOJA","short_pith_number":"pith:42NIBETU","schema_version":"1.0","canonical_sha256":"e69a80927465c5648f6983a49e0f0e483ac38e29b32e5cfc2d0bac721e2f1c22","source":{"kind":"arxiv","id":"2607.13799","version":1},"attestation_state":"computed","paper":{"title":"Vision-Based Obstacle Separation for Strawberry Harvesting in Clusters Using Hierarchical Reinforcement Learning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chunjiang Zhao, Hanfei Shi, Teng Li, Ya Xiong","submitted_at":"2026-07-15T13:07:25Z","abstract_excerpt":"Selective harvesting in clustered strawberry environments is challenging because ripe fruits are often occluded by surrounding unripe fruits, making direct grasping unreliable. To address this problem, this paper proposes a hierarchical reinforcement learning framework, termed VGPA, which integrates a vision-guided decision mechanism and a Progressive Adaptive Exploration Strategy (PAES) for vision-based obstacle separation and harvesting. The task was decomposed into two sequential stages: obstacle separation and target grasping. At the high level, the vision-guided mechanism improved option "},"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":"2607.13799","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T13:07:25Z","cross_cats_sorted":[],"title_canon_sha256":"0761dc8e3a2c132f371f4fab7b89569fbbe4a47017dc473b5ec1499e60122ffc","abstract_canon_sha256":"5220104988da70ceb72e1d8c37880e7758b20df4d1da33b1414c84dcae4673d2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-16T01:23:07.075048Z","signature_b64":"/p1xvhbvZSMGiX/8ARdToSE6LiqCXWdikaWTpsQt8oG9we6+3pt01wBurWlo4fNbH7NwjZPv7ZMnEeuPG0/cCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e69a80927465c5648f6983a49e0f0e483ac38e29b32e5cfc2d0bac721e2f1c22","last_reissued_at":"2026-07-16T01:23:07.074219Z","signature_status":"signed_v1","first_computed_at":"2026-07-16T01:23:07.074219Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Vision-Based Obstacle Separation for Strawberry Harvesting in Clusters Using Hierarchical Reinforcement Learning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chunjiang Zhao, Hanfei Shi, Teng Li, Ya Xiong","submitted_at":"2026-07-15T13:07:25Z","abstract_excerpt":"Selective harvesting in clustered strawberry environments is challenging because ripe fruits are often occluded by surrounding unripe fruits, making direct grasping unreliable. To address this problem, this paper proposes a hierarchical reinforcement learning framework, termed VGPA, which integrates a vision-guided decision mechanism and a Progressive Adaptive Exploration Strategy (PAES) for vision-based obstacle separation and harvesting. The task was decomposed into two sequential stages: obstacle separation and target grasping. At the high level, the vision-guided mechanism improved option "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.13799","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/2607.13799/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":"2607.13799","created_at":"2026-07-16T01:23:07.074647+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.13799v1","created_at":"2026-07-16T01:23:07.074647+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.13799","created_at":"2026-07-16T01:23:07.074647+00:00"},{"alias_kind":"pith_short_12","alias_value":"42NIBETUMXCW","created_at":"2026-07-16T01:23:07.074647+00:00"},{"alias_kind":"pith_short_16","alias_value":"42NIBETUMXCWJD3J","created_at":"2026-07-16T01:23:07.074647+00:00"},{"alias_kind":"pith_short_8","alias_value":"42NIBETU","created_at":"2026-07-16T01:23:07.074647+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/42NIBETUMXCWJD3JQOSJ4DYOJA","json":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA.json","graph_json":"https://pith.science/api/pith-number/42NIBETUMXCWJD3JQOSJ4DYOJA/graph.json","events_json":"https://pith.science/api/pith-number/42NIBETUMXCWJD3JQOSJ4DYOJA/events.json","paper":"https://pith.science/paper/42NIBETU"},"agent_actions":{"view_html":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA","download_json":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA.json","view_paper":"https://pith.science/paper/42NIBETU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.13799&json=true","fetch_graph":"https://pith.science/api/pith-number/42NIBETUMXCWJD3JQOSJ4DYOJA/graph.json","fetch_events":"https://pith.science/api/pith-number/42NIBETUMXCWJD3JQOSJ4DYOJA/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA/action/timestamp_anchor","attest_storage":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA/action/storage_attestation","attest_author":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA/action/author_attestation","sign_citation":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA/action/citation_signature","submit_replication":"https://pith.science/pith/42NIBETUMXCWJD3JQOSJ4DYOJA/action/replication_record"}},"created_at":"2026-07-16T01:23:07.074647+00:00","updated_at":"2026-07-16T01:23:07.074647+00:00"}