{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ZT2ONQLNRTPIKZ4MYPOUTWPLEJ","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":"c81d09054a289c7e2ed18090239d98bf5b0c39ffcc0ca388cf1ffe21d5270a02","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-18T17:02:21Z","title_canon_sha256":"1bad09b4bebb3e752c482149cbd10a05a7185e6979d3d9326ef516be3cef89dd"},"schema_version":"1.0","source":{"id":"2210.09997","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.09997","created_at":"2026-07-05T06:55:49Z"},{"alias_kind":"arxiv_version","alias_value":"2210.09997v2","created_at":"2026-07-05T06:55:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.09997","created_at":"2026-07-05T06:55:49Z"},{"alias_kind":"pith_short_12","alias_value":"ZT2ONQLNRTPI","created_at":"2026-07-05T06:55:49Z"},{"alias_kind":"pith_short_16","alias_value":"ZT2ONQLNRTPIKZ4M","created_at":"2026-07-05T06:55:49Z"},{"alias_kind":"pith_short_8","alias_value":"ZT2ONQLN","created_at":"2026-07-05T06:55:49Z"}],"graph_snapshots":[{"event_id":"sha256:cbf6c57694f5eaed34e2fe52e1f18d5317a0e0f2ca246e7c29eb5fe4b88a06a6","target":"graph","created_at":"2026-07-05T06:55:49Z","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/2210.09997/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between multiple highly deformable objects under limited observability. To tackle these challenges, we propose a robotic system consisting of two learned policies: a rearrangement policy that learns to place multiple rigid objects and fold deformable objects in order to achieve desirable pre-bagging conditions, and a lifting policy to infer suitable grasp points for ","authors_text":"Arpit Bahety, Benjamin Burchfiel, Eric Cousineau, Huy Ha, Nathalie Hager, Shreeya Jain, Shuran Song, Siyuan Feng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-18T17:02:21Z","title":"Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.09997","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":"sha256:3de83a3be2ed93b0da4215c7941cc666dc37a48cbcc1e868e9c8b964ce579367","target":"record","created_at":"2026-07-05T06:55:49Z","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":"c81d09054a289c7e2ed18090239d98bf5b0c39ffcc0ca388cf1ffe21d5270a02","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-18T17:02:21Z","title_canon_sha256":"1bad09b4bebb3e752c482149cbd10a05a7185e6979d3d9326ef516be3cef89dd"},"schema_version":"1.0","source":{"id":"2210.09997","kind":"arxiv","version":2}},"canonical_sha256":"ccf4e6c16d8cde85678cc3dd49d9eb22594d5091ae20ece03499440ed0164335","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ccf4e6c16d8cde85678cc3dd49d9eb22594d5091ae20ece03499440ed0164335","first_computed_at":"2026-07-05T06:55:49.952418Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:55:49.952418Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Vu3itD6LG5/NkOgD62VuLmoNxigivztLjalytTGvqkMIC73L/yq+ZWFWX6unoGh6g6jr8+wzyr3AodNxnxCOAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:55:49.952865Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.09997","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3de83a3be2ed93b0da4215c7941cc666dc37a48cbcc1e868e9c8b964ce579367","sha256:cbf6c57694f5eaed34e2fe52e1f18d5317a0e0f2ca246e7c29eb5fe4b88a06a6"],"state_sha256":"f8cd23dfd832befaff3d5f162534b281fbbace9cfa05357d0c94daef86e27062"}