{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:7G5HJKFVP3IEF24KQYSHS6CO2G","short_pith_number":"pith:7G5HJKFV","canonical_record":{"source":{"id":"2302.10445","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T05:21:04Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"313b21eb7d35ca7b0915555073c98c363c21f070b42c330e2f82b4f9ce1ae2b7","abstract_canon_sha256":"2d01f9595bd3a37f19e8cea82da1cd105b24bae0290c32aae5c5ac594472501b"},"schema_version":"1.0"},"canonical_sha256":"f9ba74a8b57ed042eb8a862479784ed182dd20f486eec8c79b751b6da2b79b33","source":{"kind":"arxiv","id":"2302.10445","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.10445","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"arxiv_version","alias_value":"2302.10445v1","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.10445","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_12","alias_value":"7G5HJKFVP3IE","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_16","alias_value":"7G5HJKFVP3IEF24K","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_8","alias_value":"7G5HJKFV","created_at":"2026-07-05T05:44:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:7G5HJKFVP3IEF24KQYSHS6CO2G","target":"record","payload":{"canonical_record":{"source":{"id":"2302.10445","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T05:21:04Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"313b21eb7d35ca7b0915555073c98c363c21f070b42c330e2f82b4f9ce1ae2b7","abstract_canon_sha256":"2d01f9595bd3a37f19e8cea82da1cd105b24bae0290c32aae5c5ac594472501b"},"schema_version":"1.0"},"canonical_sha256":"f9ba74a8b57ed042eb8a862479784ed182dd20f486eec8c79b751b6da2b79b33","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:44:17.547276Z","signature_b64":"/R5ztrKRPaGJcrSN/lH/pswBZbLPVY97AGgk3Shy8309uP5dZt9K92a+2WgJgQoaNpXeFHh9/Y95WGQKClwZDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f9ba74a8b57ed042eb8a862479784ed182dd20f486eec8c79b751b6da2b79b33","last_reissued_at":"2026-07-05T05:44:17.546796Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:44:17.546796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.10445","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":"2026-07-05T05:44:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gIkRa9cDKiwa8vp4HTQ/xC4uIDN2xfwiPyyLSi3Vw/W+4qDpOqk0D8THa47jlMy81LaAONIG97Ey+VyiuwNhDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T17:24:54.871226Z"},"content_sha256":"016957337af12c2f2fcbeca765ff48478f9f20b1a5fa2ec79887e46096985e1c","schema_version":"1.0","event_id":"sha256:016957337af12c2f2fcbeca765ff48478f9f20b1a5fa2ec79887e46096985e1c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:7G5HJKFVP3IEF24KQYSHS6CO2G","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Graph-Transporter: A Graph-based Learning Method for Goal-Conditioned Deformable Object Rearranging Task","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Chongkun Xia, Lipeng Chen, Xueqian Wang, Yuhong Deng","submitted_at":"2023-02-21T05:21:04Z","abstract_excerpt":"Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for goal-conditioned deformable object rearranging tasks. To tackle the challenge of complex configuration space and dynamics, we represent the configuration space of a deformable object with a graph structure and the graph features are encoded by a graph convolution network. Our framework adopts an architecture based on Fully Convolutional Network (FCN) to output p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.10445","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/2302.10445/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":"2026-07-05T05:44:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"czhQiWGSYVEGJY6+jK86FA+zqKY535/xUS1Lv4Wm+0OFuLcWh8tY9G0R2aLp2uBIGjrAWONMaZ0pwPMvI1MuAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T17:24:54.871733Z"},"content_sha256":"0a39d4d23ceb4a9365fda540ac36bf53c073447858e94bdbf33e8126fcd0e448","schema_version":"1.0","event_id":"sha256:0a39d4d23ceb4a9365fda540ac36bf53c073447858e94bdbf33e8126fcd0e448"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/bundle.json","state_url":"https://pith.science/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/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":"2026-08-14T17:24:54Z","links":{"resolver":"https://pith.science/pith/7G5HJKFVP3IEF24KQYSHS6CO2G","bundle":"https://pith.science/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/bundle.json","state":"https://pith.science/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7G5HJKFVP3IEF24KQYSHS6CO2G/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7G5HJKFVP3IEF24KQYSHS6CO2G","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":"2d01f9595bd3a37f19e8cea82da1cd105b24bae0290c32aae5c5ac594472501b","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T05:21:04Z","title_canon_sha256":"313b21eb7d35ca7b0915555073c98c363c21f070b42c330e2f82b4f9ce1ae2b7"},"schema_version":"1.0","source":{"id":"2302.10445","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.10445","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"arxiv_version","alias_value":"2302.10445v1","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.10445","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_12","alias_value":"7G5HJKFVP3IE","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_16","alias_value":"7G5HJKFVP3IEF24K","created_at":"2026-07-05T05:44:17Z"},{"alias_kind":"pith_short_8","alias_value":"7G5HJKFV","created_at":"2026-07-05T05:44:17Z"}],"graph_snapshots":[{"event_id":"sha256:0a39d4d23ceb4a9365fda540ac36bf53c073447858e94bdbf33e8126fcd0e448","target":"graph","created_at":"2026-07-05T05:44:17Z","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/2302.10445/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for goal-conditioned deformable object rearranging tasks. To tackle the challenge of complex configuration space and dynamics, we represent the configuration space of a deformable object with a graph structure and the graph features are encoded by a graph convolution network. Our framework adopts an architecture based on Fully Convolutional Network (FCN) to output p","authors_text":"Chongkun Xia, Lipeng Chen, Xueqian Wang, Yuhong Deng","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T05:21:04Z","title":"Graph-Transporter: A Graph-based Learning Method for Goal-Conditioned Deformable Object Rearranging Task"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.10445","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":"sha256:016957337af12c2f2fcbeca765ff48478f9f20b1a5fa2ec79887e46096985e1c","target":"record","created_at":"2026-07-05T05:44:17Z","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":"2d01f9595bd3a37f19e8cea82da1cd105b24bae0290c32aae5c5ac594472501b","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T05:21:04Z","title_canon_sha256":"313b21eb7d35ca7b0915555073c98c363c21f070b42c330e2f82b4f9ce1ae2b7"},"schema_version":"1.0","source":{"id":"2302.10445","kind":"arxiv","version":1}},"canonical_sha256":"f9ba74a8b57ed042eb8a862479784ed182dd20f486eec8c79b751b6da2b79b33","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f9ba74a8b57ed042eb8a862479784ed182dd20f486eec8c79b751b6da2b79b33","first_computed_at":"2026-07-05T05:44:17.546796Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:44:17.546796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/R5ztrKRPaGJcrSN/lH/pswBZbLPVY97AGgk3Shy8309uP5dZt9K92a+2WgJgQoaNpXeFHh9/Y95WGQKClwZDg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:44:17.547276Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.10445","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:016957337af12c2f2fcbeca765ff48478f9f20b1a5fa2ec79887e46096985e1c","sha256:0a39d4d23ceb4a9365fda540ac36bf53c073447858e94bdbf33e8126fcd0e448"],"state_sha256":"0f4f23aaed511f2443cc2e4f6b43627151ad41e046f1184608de0a0aa22e4716"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UwImNC5ytAp1tdllKgoLAeIWhzx22xLpcSbNwoI6r7Nqbv+o6yFzV+QejkVHu6d2+O8Ukp2FaeE/x9t9B/KICA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T17:24:54.877990Z","bundle_sha256":"b4a870e79bf42520f722a808376fea6abe7742934e48a6c72433e062a8201dba"}}