{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:PACS4VDZOOCEXQQECJWQYZMOW5","short_pith_number":"pith:PACS4VDZ","canonical_record":{"source":{"id":"1804.05172","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-14T06:04:58Z","cross_cats_sorted":[],"title_canon_sha256":"790708ac9cb258d523d412bf1f06ecdd0012133076798ab5ed38e1c6bc381169","abstract_canon_sha256":"359cf115d2532a439d5dc0de632459fd9b8f93936ba726403ccb11cc76b45f50"},"schema_version":"1.0"},"canonical_sha256":"78052e547973844bc204126d0c658eb760c3bb9f5f8055325d6174798bc58c91","source":{"kind":"arxiv","id":"1804.05172","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.05172","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"arxiv_version","alias_value":"1804.05172v2","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.05172","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"pith_short_12","alias_value":"PACS4VDZOOCE","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_16","alias_value":"PACS4VDZOOCEXQQE","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_8","alias_value":"PACS4VDZ","created_at":"2026-05-18T12:32:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:PACS4VDZOOCEXQQECJWQYZMOW5","target":"record","payload":{"canonical_record":{"source":{"id":"1804.05172","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-14T06:04:58Z","cross_cats_sorted":[],"title_canon_sha256":"790708ac9cb258d523d412bf1f06ecdd0012133076798ab5ed38e1c6bc381169","abstract_canon_sha256":"359cf115d2532a439d5dc0de632459fd9b8f93936ba726403ccb11cc76b45f50"},"schema_version":"1.0"},"canonical_sha256":"78052e547973844bc204126d0c658eb760c3bb9f5f8055325d6174798bc58c91","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:16:02.728928Z","signature_b64":"fgxRRr+hy+74B0ujEV+rxa/KZHgrrd87B9hiQztVfid8ZyXlJgkNdnNnnwcj3D+bf8z2Joru479zKcKnqASrDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"78052e547973844bc204126d0c658eb760c3bb9f5f8055325d6174798bc58c91","last_reissued_at":"2026-05-18T00:16:02.728515Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:16:02.728515Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1804.05172","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":"2026-05-18T00:16:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3MaSrOW0a2/6cymB6s47MduYm3Ns5ybxrxba22AvlJyvvA+2u9evrCl8ibfxZK9KoTbS3w+PfI45/uM+iL3ZBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T20:25:15.940818Z"},"content_sha256":"db5d9caf5c86da89c9b1b7ed7a951b16c5385cc9ea6b1c11ab71204bc9072aed","schema_version":"1.0","event_id":"sha256:db5d9caf5c86da89c9b1b7ed7a951b16c5385cc9ea6b1c11ab71204bc9072aed"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:PACS4VDZOOCEXQQECJWQYZMOW5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Douglas Morrison, J\\\"urgen Leitner, Peter Corke","submitted_at":"2018-04-14T06:04:58Z","abstract_excerpt":"This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every pixel. This one-to-one mapping from a depth image overcomes limitations of current deep-learning grasping techniques by avoiding discrete sampling of grasp candidates and long computation times. Additionally, our GG-CNN is orders of magnitude smaller while detecting stable grasps with equivalent performance to current state-of-the-art techniques. The light-we"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.05172","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":"2026-05-18T00:16:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0Kb9yG6Tv9Bq3uq5UhZIgWTWvdgAvK8Yn0l1iehsTPq632tF/5QUAjjTKM2cAE2/fJdRo3JM9AIDMLRqkSoLCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T20:25:15.941496Z"},"content_sha256":"1dbad07b39227de79da342c3b3424b44e317ebc9d46483cd39c45a116faff15a","schema_version":"1.0","event_id":"sha256:1dbad07b39227de79da342c3b3424b44e317ebc9d46483cd39c45a116faff15a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PACS4VDZOOCEXQQECJWQYZMOW5/bundle.json","state_url":"https://pith.science/pith/PACS4VDZOOCEXQQECJWQYZMOW5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PACS4VDZOOCEXQQECJWQYZMOW5/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":"2026-05-26T20:25:15Z","links":{"resolver":"https://pith.science/pith/PACS4VDZOOCEXQQECJWQYZMOW5","bundle":"https://pith.science/pith/PACS4VDZOOCEXQQECJWQYZMOW5/bundle.json","state":"https://pith.science/pith/PACS4VDZOOCEXQQECJWQYZMOW5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PACS4VDZOOCEXQQECJWQYZMOW5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:PACS4VDZOOCEXQQECJWQYZMOW5","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":"359cf115d2532a439d5dc0de632459fd9b8f93936ba726403ccb11cc76b45f50","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-14T06:04:58Z","title_canon_sha256":"790708ac9cb258d523d412bf1f06ecdd0012133076798ab5ed38e1c6bc381169"},"schema_version":"1.0","source":{"id":"1804.05172","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.05172","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"arxiv_version","alias_value":"1804.05172v2","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.05172","created_at":"2026-05-18T00:16:02Z"},{"alias_kind":"pith_short_12","alias_value":"PACS4VDZOOCE","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_16","alias_value":"PACS4VDZOOCEXQQE","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_8","alias_value":"PACS4VDZ","created_at":"2026-05-18T12:32:43Z"}],"graph_snapshots":[{"event_id":"sha256:1dbad07b39227de79da342c3b3424b44e317ebc9d46483cd39c45a116faff15a","target":"graph","created_at":"2026-05-18T00:16:02Z","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":"This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every pixel. This one-to-one mapping from a depth image overcomes limitations of current deep-learning grasping techniques by avoiding discrete sampling of grasp candidates and long computation times. Additionally, our GG-CNN is orders of magnitude smaller while detecting stable grasps with equivalent performance to current state-of-the-art techniques. The light-we","authors_text":"Douglas Morrison, J\\\"urgen Leitner, Peter Corke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-14T06:04:58Z","title":"Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.05172","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:db5d9caf5c86da89c9b1b7ed7a951b16c5385cc9ea6b1c11ab71204bc9072aed","target":"record","created_at":"2026-05-18T00:16:02Z","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":"359cf115d2532a439d5dc0de632459fd9b8f93936ba726403ccb11cc76b45f50","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-14T06:04:58Z","title_canon_sha256":"790708ac9cb258d523d412bf1f06ecdd0012133076798ab5ed38e1c6bc381169"},"schema_version":"1.0","source":{"id":"1804.05172","kind":"arxiv","version":2}},"canonical_sha256":"78052e547973844bc204126d0c658eb760c3bb9f5f8055325d6174798bc58c91","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"78052e547973844bc204126d0c658eb760c3bb9f5f8055325d6174798bc58c91","first_computed_at":"2026-05-18T00:16:02.728515Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:16:02.728515Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fgxRRr+hy+74B0ujEV+rxa/KZHgrrd87B9hiQztVfid8ZyXlJgkNdnNnnwcj3D+bf8z2Joru479zKcKnqASrDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:16:02.728928Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.05172","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:db5d9caf5c86da89c9b1b7ed7a951b16c5385cc9ea6b1c11ab71204bc9072aed","sha256:1dbad07b39227de79da342c3b3424b44e317ebc9d46483cd39c45a116faff15a"],"state_sha256":"956e706214c3caa142a80b083ccf72b741406607e3be83c4a3654b09e8d19f9f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"61qOEEOtxNS14vRT6G0dfK5MJzfXxVjl1A68gUZZNJuFTHKOMtj1LaSlW6LUEW1l/CPkdj2PsXOYU0aTQDIxCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T20:25:15.944792Z","bundle_sha256":"f6bf298f0dae8e3f8d6d5c86c0168eb4cdfd48d5ce86fa2dbb53778b2ff87bb5"}}