{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ANVEOIV6BXP3HCHDOUC3ZYR5CR","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":"5d364153f209652103ffb4f7c681875ed170a8d370e775a689f83c3aafaa8f37","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-02T22:19:34Z","title_canon_sha256":"f8dc9daec4569878685be445b303711a2dab1d7d2d2ecbdf0c0dd77507a9e75a"},"schema_version":"1.0","source":{"id":"2104.01260","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.01260","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"arxiv_version","alias_value":"2104.01260v2","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.01260","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_12","alias_value":"ANVEOIV6BXP3","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_16","alias_value":"ANVEOIV6BXP3HCHD","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_8","alias_value":"ANVEOIV6","created_at":"2026-07-05T03:32:52Z"}],"graph_snapshots":[{"event_id":"sha256:8327f8a0a7113f1437d37f51d7c18f11e108064cf85b1bb607e8bbaf1bf49a86","target":"graph","created_at":"2026-07-05T03:32:52Z","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/2104.01260/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Owing to human labor shortages, the automation of labor-intensive manual waste-sorting is needed. The goal of automating waste-sorting is to replace the human role of robust detection and agile manipulation of waste items with robots. To achieve this, we propose three methods. First, we provide a combined manipulation method using graspless push-and-drop and pick-and-release manipulation. Second, we provide a robotic system that can automatically collect object images to quickly train a deep neural-network model. Third, we provide a method to mitigate the differences in the appearance of targe","authors_text":"Hiroki Katayama, Jun Takamatsu, Takuya Kiyokawa, Tsukasa Ogasawara, Yuya Tatsuta","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-02T22:19:34Z","title":"Robotic Waste Sorter with Agile Manipulation and Quickly Trainable Detector"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.01260","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":"sha256:1fc08fbf4849a78fb42dddd4d7566c5f3dfc7755590cce2eec3366887a7cf287","target":"record","created_at":"2026-07-05T03:32:52Z","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":"5d364153f209652103ffb4f7c681875ed170a8d370e775a689f83c3aafaa8f37","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-02T22:19:34Z","title_canon_sha256":"f8dc9daec4569878685be445b303711a2dab1d7d2d2ecbdf0c0dd77507a9e75a"},"schema_version":"1.0","source":{"id":"2104.01260","kind":"arxiv","version":2}},"canonical_sha256":"036a4722be0ddfb388e37505bce23d1460e9e990e6dd7c2bf79aa8c8169a6ea9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"036a4722be0ddfb388e37505bce23d1460e9e990e6dd7c2bf79aa8c8169a6ea9","first_computed_at":"2026-07-05T03:32:52.317830Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:32:52.317830Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZwlXl0DQ4jcIhwzhRhqSV1FFSI3s3TzQe45yufVMz+RTU4HcgOLtkI9Y/Q2UyeW1nzB8ZSnQ2ZNs0HiItKhlAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:32:52.318464Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.01260","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1fc08fbf4849a78fb42dddd4d7566c5f3dfc7755590cce2eec3366887a7cf287","sha256:8327f8a0a7113f1437d37f51d7c18f11e108064cf85b1bb607e8bbaf1bf49a86"],"state_sha256":"858220b2b017e485da9b8f59c9ee85237fe15057ba344023e22c84e4385e0212"}