{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:DW6TYK3QCWLFTFZ5GTJTV4DIHJ","short_pith_number":"pith:DW6TYK3Q","canonical_record":{"source":{"id":"1712.03303","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-08T22:46:43Z","cross_cats_sorted":[],"title_canon_sha256":"2b2c1d3210517ef05471aa8d66bb3a6e9561bbac001558efb1cbb6e8d32c6f73","abstract_canon_sha256":"2287d9f044d7ace0d38c0fd15b3fde1642b9a979b1e07d4461eb2fea9d2b920e"},"schema_version":"1.0"},"canonical_sha256":"1dbd3c2b70159659973d34d33af0683a477229cf49257282107c0d17ecc98740","source":{"kind":"arxiv","id":"1712.03303","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.03303","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"arxiv_version","alias_value":"1712.03303v2","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.03303","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"pith_short_12","alias_value":"DW6TYK3QCWLF","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_16","alias_value":"DW6TYK3QCWLFTFZ5","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_8","alias_value":"DW6TYK3Q","created_at":"2026-05-18T12:31:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:DW6TYK3QCWLFTFZ5GTJTV4DIHJ","target":"record","payload":{"canonical_record":{"source":{"id":"1712.03303","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-08T22:46:43Z","cross_cats_sorted":[],"title_canon_sha256":"2b2c1d3210517ef05471aa8d66bb3a6e9561bbac001558efb1cbb6e8d32c6f73","abstract_canon_sha256":"2287d9f044d7ace0d38c0fd15b3fde1642b9a979b1e07d4461eb2fea9d2b920e"},"schema_version":"1.0"},"canonical_sha256":"1dbd3c2b70159659973d34d33af0683a477229cf49257282107c0d17ecc98740","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:27:35.601496Z","signature_b64":"VevEnIMuuyXbZFNHxLq6eNOqpGlRuOhRW+HL8wLZCAjq0Ro/xHpjOfA08gWWUanPRrPgwWYPEqinhmIKW7GGAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1dbd3c2b70159659973d34d33af0683a477229cf49257282107c0d17ecc98740","last_reissued_at":"2026-05-18T00:27:35.600941Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:27:35.600941Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1712.03303","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":"2026-05-18T00:27:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YkFGtOMfbYtTo7WamgeCy9me1BfXYMxk+TR0uoVA4ALcXvLu26K5XRGbk+FhcZC0TJQDqDjk1X/RGa/AxCwBAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T20:11:36.846397Z"},"content_sha256":"a050daae503eb8536d937d5f45329e0faf4bae79d5beeabea19151f96a4fca67","schema_version":"1.0","event_id":"sha256:a050daae503eb8536d937d5f45329e0faf4bae79d5beeabea19151f96a4fca67"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:DW6TYK3QCWLFTFZ5GTJTV4DIHJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Iuri Frosio, Jan Kautz, Mengyuan Yan, Stephen Tyree","submitted_at":"2017-12-08T22:46:43Z","abstract_excerpt":"In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a vision module and a closed-loop controller module. The two modules use target object segmentation as their common interface. The vision module extracts information from the robot end-effector camera, in the form of a binary segmentation mask of the target. We train it to achieve effective domain transfer by composing real background images with simulated image"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.03303","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":"2026-05-18T00:27:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uYXamcyQG7/afWLQWD47XEcNceFzUp62FLehcu3C0eR2yQv6rHVqDnfiODLCQDr2Lc7C6rfRD9PPF2a2dcfOAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T20:11:36.847032Z"},"content_sha256":"3c4c3cacde900473b048337cc5562a374e2900353743fe80fd9196312815cc6e","schema_version":"1.0","event_id":"sha256:3c4c3cacde900473b048337cc5562a374e2900353743fe80fd9196312815cc6e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/bundle.json","state_url":"https://pith.science/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/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":"2026-06-06T20:11:36Z","links":{"resolver":"https://pith.science/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ","bundle":"https://pith.science/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/bundle.json","state":"https://pith.science/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DW6TYK3QCWLFTFZ5GTJTV4DIHJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:DW6TYK3QCWLFTFZ5GTJTV4DIHJ","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":"2287d9f044d7ace0d38c0fd15b3fde1642b9a979b1e07d4461eb2fea9d2b920e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-08T22:46:43Z","title_canon_sha256":"2b2c1d3210517ef05471aa8d66bb3a6e9561bbac001558efb1cbb6e8d32c6f73"},"schema_version":"1.0","source":{"id":"1712.03303","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.03303","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"arxiv_version","alias_value":"1712.03303v2","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.03303","created_at":"2026-05-18T00:27:35Z"},{"alias_kind":"pith_short_12","alias_value":"DW6TYK3QCWLF","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_16","alias_value":"DW6TYK3QCWLFTFZ5","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_8","alias_value":"DW6TYK3Q","created_at":"2026-05-18T12:31:12Z"}],"graph_snapshots":[{"event_id":"sha256:3c4c3cacde900473b048337cc5562a374e2900353743fe80fd9196312815cc6e","target":"graph","created_at":"2026-05-18T00:27:35Z","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":"In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a vision module and a closed-loop controller module. The two modules use target object segmentation as their common interface. The vision module extracts information from the robot end-effector camera, in the form of a binary segmentation mask of the target. We train it to achieve effective domain transfer by composing real background images with simulated image","authors_text":"Iuri Frosio, Jan Kautz, Mengyuan Yan, Stephen Tyree","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-08T22:46:43Z","title":"Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.03303","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:a050daae503eb8536d937d5f45329e0faf4bae79d5beeabea19151f96a4fca67","target":"record","created_at":"2026-05-18T00:27:35Z","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":"2287d9f044d7ace0d38c0fd15b3fde1642b9a979b1e07d4461eb2fea9d2b920e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-08T22:46:43Z","title_canon_sha256":"2b2c1d3210517ef05471aa8d66bb3a6e9561bbac001558efb1cbb6e8d32c6f73"},"schema_version":"1.0","source":{"id":"1712.03303","kind":"arxiv","version":2}},"canonical_sha256":"1dbd3c2b70159659973d34d33af0683a477229cf49257282107c0d17ecc98740","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1dbd3c2b70159659973d34d33af0683a477229cf49257282107c0d17ecc98740","first_computed_at":"2026-05-18T00:27:35.600941Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:27:35.600941Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VevEnIMuuyXbZFNHxLq6eNOqpGlRuOhRW+HL8wLZCAjq0Ro/xHpjOfA08gWWUanPRrPgwWYPEqinhmIKW7GGAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:27:35.601496Z","signed_message":"canonical_sha256_bytes"},"source_id":"1712.03303","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a050daae503eb8536d937d5f45329e0faf4bae79d5beeabea19151f96a4fca67","sha256:3c4c3cacde900473b048337cc5562a374e2900353743fe80fd9196312815cc6e"],"state_sha256":"8adb98c3efa23409d65ac133ac78531ae6295b201e99981ef6183d04f45084e1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"06T7Zq6h9SfiWaASgDmKyluj2SLqNckPVvO8bwNOYnfXYdCXuz7vW2tn3I86qjTimqJu7C366fC5jxoruFDhCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T20:11:36.850267Z","bundle_sha256":"1003ad5beeb5c1db93c3a1695325cd125e07505498874211ca21c8f18f27cb0a"}}