{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:NVFX76BACWN722LWF42GETNIHV","short_pith_number":"pith:NVFX76BA","canonical_record":{"source":{"id":"1810.11714","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-27T21:26:42Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.NE"],"title_canon_sha256":"cdf13f8da972b997feacc4d632f26b13df7707d24d021234daedde6f81256d75","abstract_canon_sha256":"9b87d82ff1bd8af2c4add3ff5d130fdf443ecb3eb587d8217f1a1989bfa93c9c"},"schema_version":"1.0"},"canonical_sha256":"6d4b7ff820159bfd69762f34624da83d5294c74f89334b8a2099bc10d25c24db","source":{"kind":"arxiv","id":"1810.11714","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.11714","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"arxiv_version","alias_value":"1810.11714v2","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.11714","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"pith_short_12","alias_value":"NVFX76BACWN7","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"NVFX76BACWN722LW","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"NVFX76BA","created_at":"2026-05-18T12:32:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:NVFX76BACWN722LWF42GETNIHV","target":"record","payload":{"canonical_record":{"source":{"id":"1810.11714","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-27T21:26:42Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.NE"],"title_canon_sha256":"cdf13f8da972b997feacc4d632f26b13df7707d24d021234daedde6f81256d75","abstract_canon_sha256":"9b87d82ff1bd8af2c4add3ff5d130fdf443ecb3eb587d8217f1a1989bfa93c9c"},"schema_version":"1.0"},"canonical_sha256":"6d4b7ff820159bfd69762f34624da83d5294c74f89334b8a2099bc10d25c24db","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:25.850216Z","signature_b64":"LbZ9xihinCOEOXBWNRFP3L7k6RYHjkVFQM99+NY5bzCgXSOuTHbnzF6Qyzh0TvMi+u5YoUqiwuqj7sCAZJUYCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6d4b7ff820159bfd69762f34624da83d5294c74f89334b8a2099bc10d25c24db","last_reissued_at":"2026-05-17T23:51:25.849694Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:25.849694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1810.11714","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":"2026-05-17T23:51:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W6J65FkrKPC3A/nShlSP5SjFokZfHrbNfzQlDv45ysufupIi1ZRXubyt6PYvK8MRcXVfG5RikTbc8KeQ9eY9Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T00:29:54.456642Z"},"content_sha256":"24027aa48d5bd3d1cd281051d91ff8b49891b46d5acc882fb8ca5eceb4caf8ff","schema_version":"1.0","event_id":"sha256:24027aa48d5bd3d1cd281051d91ff8b49891b46d5acc882fb8ca5eceb4caf8ff"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:NVFX76BACWN722LWF42GETNIHV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG","cs.NE"],"primary_cat":"cs.RO","authors_text":"Andrew Hundt, Chia-Hung Lin, Chris Paxton, Gregory D. Hager, Varun Jain","submitted_at":"2018-10-27T21:26:42Z","abstract_excerpt":"A robot can now grasp an object more effectively than ever before, but once it has the object what happens next? We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause neural network based grasping algorithms to fail on even a simple block stacking task when executed under more realistic circumstances.\n  To address this, we introduce the JHU CoSTAR Block Stacking Dataset (BSD), where a robot interacts with 5.1 cm colored blocks to complete an order-fulfillment style block stacking task. It contains dynamic scenes and real ti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.11714","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":"2026-05-17T23:51:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y+1T08+U1pQjT2timDJoq6Sw1XvzbmrVmqQXw1CPVVTw8nbxo8N2MQyhCuGIiBYt2d9MFlhTjxCo8IBtvcVvCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T00:29:54.457299Z"},"content_sha256":"4587de2b571c454bab0eff2f4eee39f552df68ca67e745d6f573c9f09acc9ada","schema_version":"1.0","event_id":"sha256:4587de2b571c454bab0eff2f4eee39f552df68ca67e745d6f573c9f09acc9ada"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NVFX76BACWN722LWF42GETNIHV/bundle.json","state_url":"https://pith.science/pith/NVFX76BACWN722LWF42GETNIHV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NVFX76BACWN722LWF42GETNIHV/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":"2026-05-30T00:29:54Z","links":{"resolver":"https://pith.science/pith/NVFX76BACWN722LWF42GETNIHV","bundle":"https://pith.science/pith/NVFX76BACWN722LWF42GETNIHV/bundle.json","state":"https://pith.science/pith/NVFX76BACWN722LWF42GETNIHV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NVFX76BACWN722LWF42GETNIHV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:NVFX76BACWN722LWF42GETNIHV","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":"9b87d82ff1bd8af2c4add3ff5d130fdf443ecb3eb587d8217f1a1989bfa93c9c","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-27T21:26:42Z","title_canon_sha256":"cdf13f8da972b997feacc4d632f26b13df7707d24d021234daedde6f81256d75"},"schema_version":"1.0","source":{"id":"1810.11714","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.11714","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"arxiv_version","alias_value":"1810.11714v2","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.11714","created_at":"2026-05-17T23:51:25Z"},{"alias_kind":"pith_short_12","alias_value":"NVFX76BACWN7","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"NVFX76BACWN722LW","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"NVFX76BA","created_at":"2026-05-18T12:32:40Z"}],"graph_snapshots":[{"event_id":"sha256:4587de2b571c454bab0eff2f4eee39f552df68ca67e745d6f573c9f09acc9ada","target":"graph","created_at":"2026-05-17T23:51:25Z","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":"A robot can now grasp an object more effectively than ever before, but once it has the object what happens next? We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause neural network based grasping algorithms to fail on even a simple block stacking task when executed under more realistic circumstances.\n  To address this, we introduce the JHU CoSTAR Block Stacking Dataset (BSD), where a robot interacts with 5.1 cm colored blocks to complete an order-fulfillment style block stacking task. It contains dynamic scenes and real ti","authors_text":"Andrew Hundt, Chia-Hung Lin, Chris Paxton, Gregory D. Hager, Varun Jain","cross_cats":["cs.AI","cs.CV","cs.LG","cs.NE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-27T21:26:42Z","title":"The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.11714","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":"sha256:24027aa48d5bd3d1cd281051d91ff8b49891b46d5acc882fb8ca5eceb4caf8ff","target":"record","created_at":"2026-05-17T23:51:25Z","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":"9b87d82ff1bd8af2c4add3ff5d130fdf443ecb3eb587d8217f1a1989bfa93c9c","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-27T21:26:42Z","title_canon_sha256":"cdf13f8da972b997feacc4d632f26b13df7707d24d021234daedde6f81256d75"},"schema_version":"1.0","source":{"id":"1810.11714","kind":"arxiv","version":2}},"canonical_sha256":"6d4b7ff820159bfd69762f34624da83d5294c74f89334b8a2099bc10d25c24db","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6d4b7ff820159bfd69762f34624da83d5294c74f89334b8a2099bc10d25c24db","first_computed_at":"2026-05-17T23:51:25.849694Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:51:25.849694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LbZ9xihinCOEOXBWNRFP3L7k6RYHjkVFQM99+NY5bzCgXSOuTHbnzF6Qyzh0TvMi+u5YoUqiwuqj7sCAZJUYCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:51:25.850216Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.11714","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:24027aa48d5bd3d1cd281051d91ff8b49891b46d5acc882fb8ca5eceb4caf8ff","sha256:4587de2b571c454bab0eff2f4eee39f552df68ca67e745d6f573c9f09acc9ada"],"state_sha256":"35f22ce58ac2f51dc2160e9cfd9d753aa2e2c51622fb82ac940959e154f75f0c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"07AHbfjtFwWCVl0vK+4YEKlsE0F3HJpeU8htOrB6ztjp312KUHQ/T+9OFpfwjZG5c5jgWVDhXD0Z+3Q13i34Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T00:29:54.460955Z","bundle_sha256":"52c7c756b96ba05e53aad1c1643fe64fdb52e5a82bfc76775c7de7f1e54725bf"}}