{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:FSF4FA723DKWPGLKUOZSA6QJKO","short_pith_number":"pith:FSF4FA72","canonical_record":{"source":{"id":"2103.12311","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-23T05:02:52Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"e33ea67db41604e0e9facd915b20b504aae82d485ccfc26644be37481aa4f021","abstract_canon_sha256":"5570e8adb144459a5776f6b852610807a3e7b2127e2072850e41fb3203d76c28"},"schema_version":"1.0"},"canonical_sha256":"2c8bc283fad8d567996aa3b3207a095397a9d4287d3f4f29d7c5f04a7ee7bbbe","source":{"kind":"arxiv","id":"2103.12311","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.12311","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"arxiv_version","alias_value":"2103.12311v2","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.12311","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_12","alias_value":"FSF4FA723DKW","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_16","alias_value":"FSF4FA723DKWPGLK","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_8","alias_value":"FSF4FA72","created_at":"2026-07-05T03:26:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:FSF4FA723DKWPGLKUOZSA6QJKO","target":"record","payload":{"canonical_record":{"source":{"id":"2103.12311","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-23T05:02:52Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"e33ea67db41604e0e9facd915b20b504aae82d485ccfc26644be37481aa4f021","abstract_canon_sha256":"5570e8adb144459a5776f6b852610807a3e7b2127e2072850e41fb3203d76c28"},"schema_version":"1.0"},"canonical_sha256":"2c8bc283fad8d567996aa3b3207a095397a9d4287d3f4f29d7c5f04a7ee7bbbe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:26:59.607338Z","signature_b64":"FKe9tKyl9Wa2tnm7H41pYr36TKQN06kz9nAt5u+dIepsJiKLv1UZJQe9W9IoTETWqGwp2mPzMs41E2CzZ22ODA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2c8bc283fad8d567996aa3b3207a095397a9d4287d3f4f29d7c5f04a7ee7bbbe","last_reissued_at":"2026-07-05T03:26:59.605430Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:26:59.605430Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.12311","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":"2026-07-05T03:26:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UCeBae2ECCSs07+eVqYMKDuISNqFQzGqe9YEiYYHLHdNhR1eSvCvUZq7WIdSw8DzebRxQhIJrjRXfn9QIjybBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:51:29.779085Z"},"content_sha256":"c5296448a56e590507985059caaddab37d1c5a1da4eae2f697bf611e63a6da2e","schema_version":"1.0","event_id":"sha256:c5296448a56e590507985059caaddab37d1c5a1da4eae2f697bf611e63a6da2e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:FSF4FA723DKWPGLKUOZSA6QJKO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Hanwen Cao, Hao-Shu Fang, Wenhai Liu","submitted_at":"2021-03-23T05:02:52Z","abstract_excerpt":"Suction is an important solution for the longstanding robotic grasping problem. Compared with other kinds of grasping, suction grasping is easier to represent and often more reliable in practice. Though preferred in many scenarios, it is not fully investigated and lacks sufficient training data and evaluation benchmarks. To address that, firstly, we propose a new physical model to analytically evaluate seal formation and wrench resistance of a suction grasping, which are two key aspects of grasp success. Secondly, a two-step methodology is adopted to generate annotations on a large-scale datas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.12311","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2103.12311/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":"2026-07-05T03:26:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+T5/KVl993ZmGbA7mNeY4sQ+z9kIRX/yUOJKVH7a1LN358y7C1f/9IXdFhcykYvWQgVxozPM+1ZZnlFBqhIbCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:51:29.779592Z"},"content_sha256":"6e23343f656b1c30e19f3c1c9365ba53ca2b9c18959c6e7a3a8c750c2cdb8a6d","schema_version":"1.0","event_id":"sha256:6e23343f656b1c30e19f3c1c9365ba53ca2b9c18959c6e7a3a8c750c2cdb8a6d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FSF4FA723DKWPGLKUOZSA6QJKO/bundle.json","state_url":"https://pith.science/pith/FSF4FA723DKWPGLKUOZSA6QJKO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FSF4FA723DKWPGLKUOZSA6QJKO/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":"2026-08-03T20:51:29Z","links":{"resolver":"https://pith.science/pith/FSF4FA723DKWPGLKUOZSA6QJKO","bundle":"https://pith.science/pith/FSF4FA723DKWPGLKUOZSA6QJKO/bundle.json","state":"https://pith.science/pith/FSF4FA723DKWPGLKUOZSA6QJKO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FSF4FA723DKWPGLKUOZSA6QJKO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:FSF4FA723DKWPGLKUOZSA6QJKO","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":"5570e8adb144459a5776f6b852610807a3e7b2127e2072850e41fb3203d76c28","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-23T05:02:52Z","title_canon_sha256":"e33ea67db41604e0e9facd915b20b504aae82d485ccfc26644be37481aa4f021"},"schema_version":"1.0","source":{"id":"2103.12311","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.12311","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"arxiv_version","alias_value":"2103.12311v2","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.12311","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_12","alias_value":"FSF4FA723DKW","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_16","alias_value":"FSF4FA723DKWPGLK","created_at":"2026-07-05T03:26:59Z"},{"alias_kind":"pith_short_8","alias_value":"FSF4FA72","created_at":"2026-07-05T03:26:59Z"}],"graph_snapshots":[{"event_id":"sha256:6e23343f656b1c30e19f3c1c9365ba53ca2b9c18959c6e7a3a8c750c2cdb8a6d","target":"graph","created_at":"2026-07-05T03:26:59Z","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/2103.12311/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Suction is an important solution for the longstanding robotic grasping problem. Compared with other kinds of grasping, suction grasping is easier to represent and often more reliable in practice. Though preferred in many scenarios, it is not fully investigated and lacks sufficient training data and evaluation benchmarks. To address that, firstly, we propose a new physical model to analytically evaluate seal formation and wrench resistance of a suction grasping, which are two key aspects of grasp success. Secondly, a two-step methodology is adopted to generate annotations on a large-scale datas","authors_text":"Cewu Lu, Hanwen Cao, Hao-Shu Fang, Wenhai Liu","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-23T05:02:52Z","title":"SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.12311","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:c5296448a56e590507985059caaddab37d1c5a1da4eae2f697bf611e63a6da2e","target":"record","created_at":"2026-07-05T03:26:59Z","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":"5570e8adb144459a5776f6b852610807a3e7b2127e2072850e41fb3203d76c28","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-23T05:02:52Z","title_canon_sha256":"e33ea67db41604e0e9facd915b20b504aae82d485ccfc26644be37481aa4f021"},"schema_version":"1.0","source":{"id":"2103.12311","kind":"arxiv","version":2}},"canonical_sha256":"2c8bc283fad8d567996aa3b3207a095397a9d4287d3f4f29d7c5f04a7ee7bbbe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c8bc283fad8d567996aa3b3207a095397a9d4287d3f4f29d7c5f04a7ee7bbbe","first_computed_at":"2026-07-05T03:26:59.605430Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:26:59.605430Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FKe9tKyl9Wa2tnm7H41pYr36TKQN06kz9nAt5u+dIepsJiKLv1UZJQe9W9IoTETWqGwp2mPzMs41E2CzZ22ODA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:26:59.607338Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.12311","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c5296448a56e590507985059caaddab37d1c5a1da4eae2f697bf611e63a6da2e","sha256:6e23343f656b1c30e19f3c1c9365ba53ca2b9c18959c6e7a3a8c750c2cdb8a6d"],"state_sha256":"0a6884e80daae2d11b5e80d9151aeea5147617973086c145e3452caec98ccfd8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1tcFbXDA8vSHlEpbfqJMRF5En+lNSJ8OBWaFBDR7ODS4mpGz1Aj1wOTVuA2I5y3AsIXQZuxhwSPKsDL+6DJwDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T20:51:29.784931Z","bundle_sha256":"c2d175a2b3f28c0b7e22f98dc845139648cef596b9623219185e14fdb69cfa37"}}