{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:QWRDEEW6SEYF2Z2HNV7BMGVYTI","short_pith_number":"pith:QWRDEEW6","canonical_record":{"source":{"id":"2201.00956","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-04T03:05:14Z","cross_cats_sorted":[],"title_canon_sha256":"1456732be67f3fba56bc0aef231bfd67a56a9e953f71278c51d095dc2f53f5df","abstract_canon_sha256":"84357eb43547b9680c421d91db31625d7088d8f6f767f62658bf7e94a90acedf"},"schema_version":"1.0"},"canonical_sha256":"85a23212de91305d67476d7e161ab89a14fb173024a12c4490d382b392602b5d","source":{"kind":"arxiv","id":"2201.00956","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.00956","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"arxiv_version","alias_value":"2201.00956v1","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.00956","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_12","alias_value":"QWRDEEW6SEYF","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_16","alias_value":"QWRDEEW6SEYF2Z2H","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_8","alias_value":"QWRDEEW6","created_at":"2026-07-05T03:45:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:QWRDEEW6SEYF2Z2HNV7BMGVYTI","target":"record","payload":{"canonical_record":{"source":{"id":"2201.00956","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-04T03:05:14Z","cross_cats_sorted":[],"title_canon_sha256":"1456732be67f3fba56bc0aef231bfd67a56a9e953f71278c51d095dc2f53f5df","abstract_canon_sha256":"84357eb43547b9680c421d91db31625d7088d8f6f767f62658bf7e94a90acedf"},"schema_version":"1.0"},"canonical_sha256":"85a23212de91305d67476d7e161ab89a14fb173024a12c4490d382b392602b5d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:45:14.578007Z","signature_b64":"MrYe6eP4cRvxWD7+dgTRg7DjeQWelJqlmjW8+nek4Vzw2GMbCWXlhCb+u5qS0tO4NE0I5Zo0dPxGF+AQEdGbAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"85a23212de91305d67476d7e161ab89a14fb173024a12c4490d382b392602b5d","last_reissued_at":"2026-07-05T03:45:14.577596Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:45:14.577596Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2201.00956","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":"2026-07-05T03:45:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5tR5ezZ6Wucf7zZIQOviNKXG5qgx0HlJ332+bCAstUHmafmKvYc2CNjtvgAZb4p0/70KUnjviruv/GJ2kNNOCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T13:54:23.263967Z"},"content_sha256":"13a75623f0e0de001de7c67e2d919a6cc75482ad1ff7cb865f270900522680e8","schema_version":"1.0","event_id":"sha256:13a75623f0e0de001de7c67e2d919a6cc75482ad1ff7cb865f270900522680e8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:QWRDEEW6SEYF2Z2HNV7BMGVYTI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Primitive Shape Recognition for Object Grasping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chao Tang, Fu-Jen Chu, Patricio A. Vela, Ruinian Xu, Yunzhi Lin","submitted_at":"2022-01-04T03:05:14Z","abstract_excerpt":"Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a post-processing pipeline for robotic grasping. Segmentation employs a deep network, called PS-CNN, trained on synthetic data with 6 classes of primitive shapes and generated using a simulation engine. Each primitive shape is designed with parametrized grasp families, permitting the pipeline to identify multiple grasp candidates per shape region. The grasps ar"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.00956","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/2201.00956/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":"2026-07-05T03:45:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dt98vrlYyc/WLWlBOLFPRQt5fDQjBCI6WtJ1uwYBeCF8RC812acTsMAe7FMxjawg/cx9IbO1ajDkl2hfl2LoAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T13:54:23.264562Z"},"content_sha256":"e1394a35ba5750f3dc36bd0b7f19f8eca4232df1de13ccb0d307ed0b16b5c19f","schema_version":"1.0","event_id":"sha256:e1394a35ba5750f3dc36bd0b7f19f8eca4232df1de13ccb0d307ed0b16b5c19f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/bundle.json","state_url":"https://pith.science/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/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":"2026-08-14T13:54:23Z","links":{"resolver":"https://pith.science/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI","bundle":"https://pith.science/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/bundle.json","state":"https://pith.science/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QWRDEEW6SEYF2Z2HNV7BMGVYTI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:QWRDEEW6SEYF2Z2HNV7BMGVYTI","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":"84357eb43547b9680c421d91db31625d7088d8f6f767f62658bf7e94a90acedf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-04T03:05:14Z","title_canon_sha256":"1456732be67f3fba56bc0aef231bfd67a56a9e953f71278c51d095dc2f53f5df"},"schema_version":"1.0","source":{"id":"2201.00956","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.00956","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"arxiv_version","alias_value":"2201.00956v1","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.00956","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_12","alias_value":"QWRDEEW6SEYF","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_16","alias_value":"QWRDEEW6SEYF2Z2H","created_at":"2026-07-05T03:45:14Z"},{"alias_kind":"pith_short_8","alias_value":"QWRDEEW6","created_at":"2026-07-05T03:45:14Z"}],"graph_snapshots":[{"event_id":"sha256:e1394a35ba5750f3dc36bd0b7f19f8eca4232df1de13ccb0d307ed0b16b5c19f","target":"graph","created_at":"2026-07-05T03:45:14Z","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/2201.00956/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a post-processing pipeline for robotic grasping. Segmentation employs a deep network, called PS-CNN, trained on synthetic data with 6 classes of primitive shapes and generated using a simulation engine. Each primitive shape is designed with parametrized grasp families, permitting the pipeline to identify multiple grasp candidates per shape region. The grasps ar","authors_text":"Chao Tang, Fu-Jen Chu, Patricio A. Vela, Ruinian Xu, Yunzhi Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-04T03:05:14Z","title":"Primitive Shape Recognition for Object Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.00956","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":"sha256:13a75623f0e0de001de7c67e2d919a6cc75482ad1ff7cb865f270900522680e8","target":"record","created_at":"2026-07-05T03:45:14Z","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":"84357eb43547b9680c421d91db31625d7088d8f6f767f62658bf7e94a90acedf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-04T03:05:14Z","title_canon_sha256":"1456732be67f3fba56bc0aef231bfd67a56a9e953f71278c51d095dc2f53f5df"},"schema_version":"1.0","source":{"id":"2201.00956","kind":"arxiv","version":1}},"canonical_sha256":"85a23212de91305d67476d7e161ab89a14fb173024a12c4490d382b392602b5d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"85a23212de91305d67476d7e161ab89a14fb173024a12c4490d382b392602b5d","first_computed_at":"2026-07-05T03:45:14.577596Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:45:14.577596Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MrYe6eP4cRvxWD7+dgTRg7DjeQWelJqlmjW8+nek4Vzw2GMbCWXlhCb+u5qS0tO4NE0I5Zo0dPxGF+AQEdGbAw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:45:14.578007Z","signed_message":"canonical_sha256_bytes"},"source_id":"2201.00956","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:13a75623f0e0de001de7c67e2d919a6cc75482ad1ff7cb865f270900522680e8","sha256:e1394a35ba5750f3dc36bd0b7f19f8eca4232df1de13ccb0d307ed0b16b5c19f"],"state_sha256":"031494e4a236488af5d92cd3e25942bc84c3f129c1ef7c85db2eb08382dd649c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cvE7IENXm9CuROGzd3zWzO0unvdEFihO5KNSnH7D/aaSLWWItmzUPg1UDUDPuLTE1zttsHmt3tEcn16O3espBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T13:54:23.268510Z","bundle_sha256":"38c8edbe44604a64cd6ecce99d666df9b4001bf7f5096ce91121a47226a4816d"}}