{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:HDVKTBZEH6KUAFX5CIRAMGGMPN","short_pith_number":"pith:HDVKTBZE","canonical_record":{"source":{"id":"2209.10404","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-21T14:51:42Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"ea508d51ce5a24da672527856677e7116ac9a226227ba2e3dc3e9379c801efd6","abstract_canon_sha256":"2002853acdcf8f3485c93977e1e058340ab690f067a70b35f9494d01bedaee24"},"schema_version":"1.0"},"canonical_sha256":"38eaa987243f954016fd12220618cc7b7d03a6d65790b8a5dafebef43e7b3d9a","source":{"kind":"arxiv","id":"2209.10404","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.10404","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"arxiv_version","alias_value":"2209.10404v3","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.10404","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_12","alias_value":"HDVKTBZEH6KU","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_16","alias_value":"HDVKTBZEH6KUAFX5","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_8","alias_value":"HDVKTBZE","created_at":"2026-07-05T06:59:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:HDVKTBZEH6KUAFX5CIRAMGGMPN","target":"record","payload":{"canonical_record":{"source":{"id":"2209.10404","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-21T14:51:42Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"ea508d51ce5a24da672527856677e7116ac9a226227ba2e3dc3e9379c801efd6","abstract_canon_sha256":"2002853acdcf8f3485c93977e1e058340ab690f067a70b35f9494d01bedaee24"},"schema_version":"1.0"},"canonical_sha256":"38eaa987243f954016fd12220618cc7b7d03a6d65790b8a5dafebef43e7b3d9a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:59:49.993642Z","signature_b64":"oLtOjQS/JUWAWzQ2OhiBCFj5Jw22TJLAy4bXNPMo46iJHObI94iJ/PanrwRtofoeErgpDwbb782uOXk8MJ8VAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"38eaa987243f954016fd12220618cc7b7d03a6d65790b8a5dafebef43e7b3d9a","last_reissued_at":"2026-07-05T06:59:49.993201Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:59:49.993201Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.10404","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:59:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hya61sQGqivFKmWUWkw7w6p2gsHQ8e7H9Xq25EOruRW+plhZrXSEsN2Fe765Kvc6ykkQks5kqQEyoHp3YVQSBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:48:10.502862Z"},"content_sha256":"7fc1a185af9a8318e9f372831622528b659b87f28fd90df616825cd860e5c9da","schema_version":"1.0","event_id":"sha256:7fc1a185af9a8318e9f372831622528b659b87f28fd90df616825cd860e5c9da"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:HDVKTBZEH6KUAFX5CIRAMGGMPN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GP-net: Flexible Viewpoint Grasp Proposal","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Anna Konrad, John McDonald, Rudi Villing","submitted_at":"2022-09-21T14:51:42Z","abstract_excerpt":"We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset containing depth-images and ground-truth grasp information. In real-world experiments, we use the EGAD evaluation benchmark to evaluate GP-net against two commonly used algorithms, the Volumetric Grasping Network (VGN) and the Grasp Pose Detection package (GPD), on a PAL TIAGo mobile manipulator. In contrast to the state-of-the-art methods in robotic graspin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.10404","kind":"arxiv","version":3},"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/2209.10404/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":"2026-07-05T06:59:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O+1f29HbarOOFbmK2Xk4vafVMh9etyXJMzWRMF8/2tI1FNrrHTjMzO/lYUyKTP9d9xkwKTeJpb97Wg0gIk63BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:48:10.503183Z"},"content_sha256":"6775201b7607742efcb15047518a9bc63f94bbcb9ca67a1776433647e03dcded","schema_version":"1.0","event_id":"sha256:6775201b7607742efcb15047518a9bc63f94bbcb9ca67a1776433647e03dcded"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/bundle.json","state_url":"https://pith.science/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/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":"2026-08-06T22:48:10Z","links":{"resolver":"https://pith.science/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN","bundle":"https://pith.science/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/bundle.json","state":"https://pith.science/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HDVKTBZEH6KUAFX5CIRAMGGMPN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:HDVKTBZEH6KUAFX5CIRAMGGMPN","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":"2002853acdcf8f3485c93977e1e058340ab690f067a70b35f9494d01bedaee24","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-21T14:51:42Z","title_canon_sha256":"ea508d51ce5a24da672527856677e7116ac9a226227ba2e3dc3e9379c801efd6"},"schema_version":"1.0","source":{"id":"2209.10404","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.10404","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"arxiv_version","alias_value":"2209.10404v3","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.10404","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_12","alias_value":"HDVKTBZEH6KU","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_16","alias_value":"HDVKTBZEH6KUAFX5","created_at":"2026-07-05T06:59:49Z"},{"alias_kind":"pith_short_8","alias_value":"HDVKTBZE","created_at":"2026-07-05T06:59:49Z"}],"graph_snapshots":[{"event_id":"sha256:6775201b7607742efcb15047518a9bc63f94bbcb9ca67a1776433647e03dcded","target":"graph","created_at":"2026-07-05T06:59:49Z","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/2209.10404/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset containing depth-images and ground-truth grasp information. In real-world experiments, we use the EGAD evaluation benchmark to evaluate GP-net against two commonly used algorithms, the Volumetric Grasping Network (VGN) and the Grasp Pose Detection package (GPD), on a PAL TIAGo mobile manipulator. In contrast to the state-of-the-art methods in robotic graspin","authors_text":"Anna Konrad, John McDonald, Rudi Villing","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-21T14:51:42Z","title":"GP-net: Flexible Viewpoint Grasp Proposal"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.10404","kind":"arxiv","version":3},"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":"sha256:7fc1a185af9a8318e9f372831622528b659b87f28fd90df616825cd860e5c9da","target":"record","created_at":"2026-07-05T06:59:49Z","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":"2002853acdcf8f3485c93977e1e058340ab690f067a70b35f9494d01bedaee24","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-21T14:51:42Z","title_canon_sha256":"ea508d51ce5a24da672527856677e7116ac9a226227ba2e3dc3e9379c801efd6"},"schema_version":"1.0","source":{"id":"2209.10404","kind":"arxiv","version":3}},"canonical_sha256":"38eaa987243f954016fd12220618cc7b7d03a6d65790b8a5dafebef43e7b3d9a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38eaa987243f954016fd12220618cc7b7d03a6d65790b8a5dafebef43e7b3d9a","first_computed_at":"2026-07-05T06:59:49.993201Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:59:49.993201Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oLtOjQS/JUWAWzQ2OhiBCFj5Jw22TJLAy4bXNPMo46iJHObI94iJ/PanrwRtofoeErgpDwbb782uOXk8MJ8VAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:59:49.993642Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.10404","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7fc1a185af9a8318e9f372831622528b659b87f28fd90df616825cd860e5c9da","sha256:6775201b7607742efcb15047518a9bc63f94bbcb9ca67a1776433647e03dcded"],"state_sha256":"a1513364bf453249ea705eecfe62cdb40a2d2e192756ba2e3b90442cd5c157cf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TCsHfRhUgEfKTcA6GdWgHER7Zo0EPdWQWosdObIzsWJe8gbdooOIIHdI+hokRzfgVPWMd2/MEmgotgLUMUvVDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T22:48:10.507563Z","bundle_sha256":"85cdfc474041c322f026249151a10e89242b092386cfb08e273de7e3231a70ce"}}