{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:J6YC2RA7IPX4ULBWNE6F5XOIWP","short_pith_number":"pith:J6YC2RA7","canonical_record":{"source":{"id":"2211.09382","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-11-17T07:16:37Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"02eb5593eab628979332c557f83a334abf654386bac040dfd0ff4df5ca0c3fbc","abstract_canon_sha256":"1ecb3168f299e571ba0f8011b0879fc2cd491b5d443b0c1438c78fc93b2c7d1b"},"schema_version":"1.0"},"canonical_sha256":"4fb02d441f43efca2c36693c5eddc8b3e13f18fd7d3ebd54319e6e44416205b6","source":{"kind":"arxiv","id":"2211.09382","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.09382","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"arxiv_version","alias_value":"2211.09382v1","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.09382","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_12","alias_value":"J6YC2RA7IPX4","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_16","alias_value":"J6YC2RA7IPX4ULBW","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_8","alias_value":"J6YC2RA7","created_at":"2026-07-05T05:16:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:J6YC2RA7IPX4ULBWNE6F5XOIWP","target":"record","payload":{"canonical_record":{"source":{"id":"2211.09382","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-11-17T07:16:37Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"02eb5593eab628979332c557f83a334abf654386bac040dfd0ff4df5ca0c3fbc","abstract_canon_sha256":"1ecb3168f299e571ba0f8011b0879fc2cd491b5d443b0c1438c78fc93b2c7d1b"},"schema_version":"1.0"},"canonical_sha256":"4fb02d441f43efca2c36693c5eddc8b3e13f18fd7d3ebd54319e6e44416205b6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:16:55.333943Z","signature_b64":"e7uNVal0eyghcy1fQY4CKxu1Q1rD7qPSCQCWq6F7sugvyIQjPWTd8LdUf09+Yr8CkQtFifQDgEvEQ3CtkEenDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4fb02d441f43efca2c36693c5eddc8b3e13f18fd7d3ebd54319e6e44416205b6","last_reissued_at":"2026-07-05T05:16:55.333432Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:16:55.333432Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.09382","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":"2026-07-05T05:16:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nm9xYO1D7fd7XFFkrGkzlJS9dLqUYvR4u77RUeXsOShSJxaHF+Zz08SeqpAna9pdRAL5xIY4E3dyjnxUxgdpAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T12:38:42.420964Z"},"content_sha256":"2e88a886ce82e029405e736750359cfa1e36553c0e7c47a97c013c230f1bb6e0","schema_version":"1.0","event_id":"sha256:2e88a886ce82e029405e736750359cfa1e36553c0e7c47a97c013c230f1bb6e0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:J6YC2RA7IPX4ULBWNE6F5XOIWP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Planning Irregular Object Packing via Hierarchical Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Jie Zhou, Jiwen Lu, Sichao Huang, Ziwei Wang","submitted_at":"2022-11-17T07:16:37Z","abstract_excerpt":"Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the practical use in realistic applications with everyday objects. In this paper, we propose a deep hierarchical reinforcement learning approach to simultaneously plan packing sequence and placement for irregular object packing. Specifically, the top manager network infers packing sequence from six principal view heightmaps of all objects, and then the bottom worker n"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.09382","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/2211.09382/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":"2026-07-05T05:16:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QNDA2CMzWoTS2lzdUJi9kZcS1nEf/x14yVMCuNSsdE5OSOqFimkqSgcT7hAYjubcRwdK4LiMPRdJp1HsUs0qDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T12:38:42.421336Z"},"content_sha256":"99f4ff4293dcbc5504b489e5b53ec6d8c08e54d64565db07563828bb256d512c","schema_version":"1.0","event_id":"sha256:99f4ff4293dcbc5504b489e5b53ec6d8c08e54d64565db07563828bb256d512c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/bundle.json","state_url":"https://pith.science/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/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":"2026-07-24T12:38:42Z","links":{"resolver":"https://pith.science/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP","bundle":"https://pith.science/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/bundle.json","state":"https://pith.science/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J6YC2RA7IPX4ULBWNE6F5XOIWP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:J6YC2RA7IPX4ULBWNE6F5XOIWP","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":"1ecb3168f299e571ba0f8011b0879fc2cd491b5d443b0c1438c78fc93b2c7d1b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-11-17T07:16:37Z","title_canon_sha256":"02eb5593eab628979332c557f83a334abf654386bac040dfd0ff4df5ca0c3fbc"},"schema_version":"1.0","source":{"id":"2211.09382","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.09382","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"arxiv_version","alias_value":"2211.09382v1","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.09382","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_12","alias_value":"J6YC2RA7IPX4","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_16","alias_value":"J6YC2RA7IPX4ULBW","created_at":"2026-07-05T05:16:55Z"},{"alias_kind":"pith_short_8","alias_value":"J6YC2RA7","created_at":"2026-07-05T05:16:55Z"}],"graph_snapshots":[{"event_id":"sha256:99f4ff4293dcbc5504b489e5b53ec6d8c08e54d64565db07563828bb256d512c","target":"graph","created_at":"2026-07-05T05:16:55Z","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/2211.09382/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the practical use in realistic applications with everyday objects. In this paper, we propose a deep hierarchical reinforcement learning approach to simultaneously plan packing sequence and placement for irregular object packing. Specifically, the top manager network infers packing sequence from six principal view heightmaps of all objects, and then the bottom worker n","authors_text":"Jie Zhou, Jiwen Lu, Sichao Huang, Ziwei Wang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-11-17T07:16:37Z","title":"Planning Irregular Object Packing via Hierarchical Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.09382","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":"sha256:2e88a886ce82e029405e736750359cfa1e36553c0e7c47a97c013c230f1bb6e0","target":"record","created_at":"2026-07-05T05:16:55Z","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":"1ecb3168f299e571ba0f8011b0879fc2cd491b5d443b0c1438c78fc93b2c7d1b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-11-17T07:16:37Z","title_canon_sha256":"02eb5593eab628979332c557f83a334abf654386bac040dfd0ff4df5ca0c3fbc"},"schema_version":"1.0","source":{"id":"2211.09382","kind":"arxiv","version":1}},"canonical_sha256":"4fb02d441f43efca2c36693c5eddc8b3e13f18fd7d3ebd54319e6e44416205b6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4fb02d441f43efca2c36693c5eddc8b3e13f18fd7d3ebd54319e6e44416205b6","first_computed_at":"2026-07-05T05:16:55.333432Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:16:55.333432Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"e7uNVal0eyghcy1fQY4CKxu1Q1rD7qPSCQCWq6F7sugvyIQjPWTd8LdUf09+Yr8CkQtFifQDgEvEQ3CtkEenDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:16:55.333943Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.09382","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2e88a886ce82e029405e736750359cfa1e36553c0e7c47a97c013c230f1bb6e0","sha256:99f4ff4293dcbc5504b489e5b53ec6d8c08e54d64565db07563828bb256d512c"],"state_sha256":"babcb06decb34a62fbdd91733336fe23495b6858664e302fa9bec23fbcac690c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XSk0efK4ENuLYRQDc59qTCs2LrxXt2DeXU4w9gu5k8uhAbT26GW+qGs+xmr5zNPEhuAHEvJa3Hti2WVJ3sywCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-24T12:38:42.423818Z","bundle_sha256":"5d4487d8139b9cd52dbfcb6fb289b7396c78bff1828330437f31b1bd9e1e91b7"}}