{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:5K5XRMWC6PAGZXNZIRPSFYKJAB","short_pith_number":"pith:5K5XRMWC","canonical_record":{"source":{"id":"1904.07402","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-04-16T02:03:57Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"59d06a13c396432c93054ac85777d1ca0300f8af32c357ada2d6012b0f228f82","abstract_canon_sha256":"5dff110980c1fe29c104b0acebc9925b0a98de7061b8ee595dcccc355a853a23"},"schema_version":"1.0"},"canonical_sha256":"eabb78b2c2f3c06cddb9445f22e14900470bd0aadf96c8c29d4128531ef31d05","source":{"kind":"arxiv","id":"1904.07402","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.07402","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"arxiv_version","alias_value":"1904.07402v2","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.07402","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"pith_short_12","alias_value":"5K5XRMWC6PAG","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"5K5XRMWC6PAGZXNZ","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"5K5XRMWC","created_at":"2026-05-18T12:33:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:5K5XRMWC6PAGZXNZIRPSFYKJAB","target":"record","payload":{"canonical_record":{"source":{"id":"1904.07402","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-04-16T02:03:57Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"59d06a13c396432c93054ac85777d1ca0300f8af32c357ada2d6012b0f228f82","abstract_canon_sha256":"5dff110980c1fe29c104b0acebc9925b0a98de7061b8ee595dcccc355a853a23"},"schema_version":"1.0"},"canonical_sha256":"eabb78b2c2f3c06cddb9445f22e14900470bd0aadf96c8c29d4128531ef31d05","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:47:50.480735Z","signature_b64":"KiimYFlCCxQt6fsJrS1QBoKM8GRvO33MRC/TabpR8AGXeysw3SNxV64KDJq4b64K3NcqZuSaCm3xuWXpzvwYDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eabb78b2c2f3c06cddb9445f22e14900470bd0aadf96c8c29d4128531ef31d05","last_reissued_at":"2026-05-17T23:47:50.480097Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:47:50.480097Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.07402","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":"2026-05-17T23:47:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q/PDbch5f/vsLtL4XcU/QCU0s0XTodHrZXWkX/XIErpI7UBlF6zjLI/DppsEw86mattqqAmKHpZmMse1ydc3Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T04:10:54.163437Z"},"content_sha256":"67c346da44172ef82c0a28faf8d2313c2fda2d46c578bfbbdffc978985d66604","schema_version":"1.0","event_id":"sha256:67c346da44172ef82c0a28faf8d2313c2fda2d46c578bfbbdffc978985d66604"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:5K5XRMWC6PAGZXNZIRPSFYKJAB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Suction Grasp Region Prediction using Self-supervised Learning for Object Picking in Dense Clutter","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Jie Hu, Jin Ma, Jin Qi, Quanquan Shao, Weiming Wang, Wenhai Liu, Yi Fang","submitted_at":"2019-04-16T02:03:57Z","abstract_excerpt":"This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before grasping them. Here, this paper combines Resnet with U-net structure, a special framework of Convolution Neural Networks (CNN), to predict picking region without recognition and pose estimation. And it makes robotic picking system learn picking skills from scratch. At the same time, we train the network end to end with online samples. In the end of this paper, se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.07402","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":""},"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":"2026-05-17T23:47:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TAPOpwE08DYX2FRrqJUKWUK0YG18aMAJVmhBQh7mK1B1W/f2loARYT5HzcSDyRj+7Iscjv3LvV6z86KRMgJxDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T04:10:54.164138Z"},"content_sha256":"b814e57de96b20d469216644ccc7c3e48a08f555c39024c5031ea181a979ad51","schema_version":"1.0","event_id":"sha256:b814e57de96b20d469216644ccc7c3e48a08f555c39024c5031ea181a979ad51"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/bundle.json","state_url":"https://pith.science/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/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":"2026-05-27T04:10:54Z","links":{"resolver":"https://pith.science/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB","bundle":"https://pith.science/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/bundle.json","state":"https://pith.science/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5K5XRMWC6PAGZXNZIRPSFYKJAB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:5K5XRMWC6PAGZXNZIRPSFYKJAB","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":"5dff110980c1fe29c104b0acebc9925b0a98de7061b8ee595dcccc355a853a23","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-04-16T02:03:57Z","title_canon_sha256":"59d06a13c396432c93054ac85777d1ca0300f8af32c357ada2d6012b0f228f82"},"schema_version":"1.0","source":{"id":"1904.07402","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.07402","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"arxiv_version","alias_value":"1904.07402v2","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.07402","created_at":"2026-05-17T23:47:50Z"},{"alias_kind":"pith_short_12","alias_value":"5K5XRMWC6PAG","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"5K5XRMWC6PAGZXNZ","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"5K5XRMWC","created_at":"2026-05-18T12:33:10Z"}],"graph_snapshots":[{"event_id":"sha256:b814e57de96b20d469216644ccc7c3e48a08f555c39024c5031ea181a979ad51","target":"graph","created_at":"2026-05-17T23:47:50Z","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 paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before grasping them. Here, this paper combines Resnet with U-net structure, a special framework of Convolution Neural Networks (CNN), to predict picking region without recognition and pose estimation. And it makes robotic picking system learn picking skills from scratch. At the same time, we train the network end to end with online samples. In the end of this paper, se","authors_text":"Jie Hu, Jin Ma, Jin Qi, Quanquan Shao, Weiming Wang, Wenhai Liu, Yi Fang","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-04-16T02:03:57Z","title":"Suction Grasp Region Prediction using Self-supervised Learning for Object Picking in Dense Clutter"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.07402","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":"sha256:67c346da44172ef82c0a28faf8d2313c2fda2d46c578bfbbdffc978985d66604","target":"record","created_at":"2026-05-17T23:47:50Z","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":"5dff110980c1fe29c104b0acebc9925b0a98de7061b8ee595dcccc355a853a23","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-04-16T02:03:57Z","title_canon_sha256":"59d06a13c396432c93054ac85777d1ca0300f8af32c357ada2d6012b0f228f82"},"schema_version":"1.0","source":{"id":"1904.07402","kind":"arxiv","version":2}},"canonical_sha256":"eabb78b2c2f3c06cddb9445f22e14900470bd0aadf96c8c29d4128531ef31d05","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eabb78b2c2f3c06cddb9445f22e14900470bd0aadf96c8c29d4128531ef31d05","first_computed_at":"2026-05-17T23:47:50.480097Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:47:50.480097Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KiimYFlCCxQt6fsJrS1QBoKM8GRvO33MRC/TabpR8AGXeysw3SNxV64KDJq4b64K3NcqZuSaCm3xuWXpzvwYDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:47:50.480735Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.07402","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:67c346da44172ef82c0a28faf8d2313c2fda2d46c578bfbbdffc978985d66604","sha256:b814e57de96b20d469216644ccc7c3e48a08f555c39024c5031ea181a979ad51"],"state_sha256":"7c948c7b4e82c3fc1115fdbf9d7fbdaf029f2a9d907dd2fe53fd04b34bacda0e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/HJy+D8r9iNgRA72RNa803nNHI/XuIs3QHGj8JvM7SU6UqzS/IAarQ3cuNUL5Snd7+Ru1MFsa/4BoX8XniLyAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T04:10:54.168282Z","bundle_sha256":"82015ad0f41315f66e5ba318e6d404e0c473a789d00b7504f1ae8c73619fd63b"}}