{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:LFWFQKJDESUO4R7H7TLLMQYTJ7","short_pith_number":"pith:LFWFQKJD","canonical_record":{"source":{"id":"1802.08857","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-02-24T14:54:13Z","cross_cats_sorted":[],"title_canon_sha256":"282639af8af3e05634c90a2afc450e8b181c9469cdcba7a16c2c7a6fe10b8d32","abstract_canon_sha256":"36a29794f49d7227002c9d3cdc5b669b418870f32b3d7573c780f919cfc78096"},"schema_version":"1.0"},"canonical_sha256":"596c58292324a8ee47e7fcd6b643134fe66d63bd54844fcab58c178d7994bfac","source":{"kind":"arxiv","id":"1802.08857","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1802.08857","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"arxiv_version","alias_value":"1802.08857v2","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1802.08857","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"pith_short_12","alias_value":"LFWFQKJDESUO","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_16","alias_value":"LFWFQKJDESUO4R7H","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_8","alias_value":"LFWFQKJD","created_at":"2026-05-18T12:32:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:LFWFQKJDESUO4R7H7TLLMQYTJ7","target":"record","payload":{"canonical_record":{"source":{"id":"1802.08857","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-02-24T14:54:13Z","cross_cats_sorted":[],"title_canon_sha256":"282639af8af3e05634c90a2afc450e8b181c9469cdcba7a16c2c7a6fe10b8d32","abstract_canon_sha256":"36a29794f49d7227002c9d3cdc5b669b418870f32b3d7573c780f919cfc78096"},"schema_version":"1.0"},"canonical_sha256":"596c58292324a8ee47e7fcd6b643134fe66d63bd54844fcab58c178d7994bfac","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:22:08.516861Z","signature_b64":"YgGEJ2Hn+LlXYUPJaT6WtFf8GALHiiQxVFtsPLU8FEVFemlhJk/671+UEag86YH+SuDjvmncEwhTuJPMZ2tNDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"596c58292324a8ee47e7fcd6b643134fe66d63bd54844fcab58c178d7994bfac","last_reissued_at":"2026-05-18T00:22:08.516310Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:22:08.516310Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1802.08857","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":"2026-05-18T00:22:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c6zyB+LeUbHIMsta5w1C2BJBml7EBqg0fLhQmAdthYfaATrqHRoSf1HSBVN80wRRGMMNsCYHrTnbEbYmi/0bDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T18:38:19.330118Z"},"content_sha256":"64d8a2ed1671c654b35d1c97b164dfe993e37b642842a69eb0a8a262ea33e76a","schema_version":"1.0","event_id":"sha256:64d8a2ed1671c654b35d1c97b164dfe993e37b642842a69eb0a8a262ea33e76a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:LFWFQKJDESUO4R7H7TLLMQYTJ7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual Manipulation Relationship Network","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hanbo Zhang, Nanning Zheng, Xinwen Zhou, Xuguang Lan, Yang Zhang, Zhiqiang Tian","submitted_at":"2018-02-24T14:54:13Z","abstract_excerpt":"Robotic grasping detection is one of the most important fields in robotics, in which great progress has been made recent years with the help of convolutional neural network (CNN). However, including multiple objects in one scene can invalidate the existing CNN-based grasping detection algorithms, because manipulation relationships among objects are not considered, which are required to guide the robot to grasp things in the right order. This paper presents a new CNN architecture called Visual Manipulation Relationship Network (VMRN) to help robot detect targets and predict the manipulation rel"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1802.08857","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":"2026-05-18T00:22:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WA9DwXspJ2LiwCPIi+W3wpBZM3PHQh+mZUSrLPYYmdAgHBXObUDWrmz+YVft09awCXHZMvqpU2JpRciz5/fbAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T18:38:19.330501Z"},"content_sha256":"1d383fe48f00a6befb7f7d3e79ceb02fb26efa4fe487bc8433a6c13511bf11a8","schema_version":"1.0","event_id":"sha256:1d383fe48f00a6befb7f7d3e79ceb02fb26efa4fe487bc8433a6c13511bf11a8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/bundle.json","state_url":"https://pith.science/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/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":"2026-06-22T18:38:19Z","links":{"resolver":"https://pith.science/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7","bundle":"https://pith.science/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/bundle.json","state":"https://pith.science/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LFWFQKJDESUO4R7H7TLLMQYTJ7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:LFWFQKJDESUO4R7H7TLLMQYTJ7","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":"36a29794f49d7227002c9d3cdc5b669b418870f32b3d7573c780f919cfc78096","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-02-24T14:54:13Z","title_canon_sha256":"282639af8af3e05634c90a2afc450e8b181c9469cdcba7a16c2c7a6fe10b8d32"},"schema_version":"1.0","source":{"id":"1802.08857","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1802.08857","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"arxiv_version","alias_value":"1802.08857v2","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1802.08857","created_at":"2026-05-18T00:22:08Z"},{"alias_kind":"pith_short_12","alias_value":"LFWFQKJDESUO","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_16","alias_value":"LFWFQKJDESUO4R7H","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_8","alias_value":"LFWFQKJD","created_at":"2026-05-18T12:32:37Z"}],"graph_snapshots":[{"event_id":"sha256:1d383fe48f00a6befb7f7d3e79ceb02fb26efa4fe487bc8433a6c13511bf11a8","target":"graph","created_at":"2026-05-18T00:22:08Z","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":"Robotic grasping detection is one of the most important fields in robotics, in which great progress has been made recent years with the help of convolutional neural network (CNN). However, including multiple objects in one scene can invalidate the existing CNN-based grasping detection algorithms, because manipulation relationships among objects are not considered, which are required to guide the robot to grasp things in the right order. This paper presents a new CNN architecture called Visual Manipulation Relationship Network (VMRN) to help robot detect targets and predict the manipulation rel","authors_text":"Hanbo Zhang, Nanning Zheng, Xinwen Zhou, Xuguang Lan, Yang Zhang, Zhiqiang Tian","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-02-24T14:54:13Z","title":"Visual Manipulation Relationship Network"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1802.08857","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":"sha256:64d8a2ed1671c654b35d1c97b164dfe993e37b642842a69eb0a8a262ea33e76a","target":"record","created_at":"2026-05-18T00:22:08Z","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":"36a29794f49d7227002c9d3cdc5b669b418870f32b3d7573c780f919cfc78096","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-02-24T14:54:13Z","title_canon_sha256":"282639af8af3e05634c90a2afc450e8b181c9469cdcba7a16c2c7a6fe10b8d32"},"schema_version":"1.0","source":{"id":"1802.08857","kind":"arxiv","version":2}},"canonical_sha256":"596c58292324a8ee47e7fcd6b643134fe66d63bd54844fcab58c178d7994bfac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"596c58292324a8ee47e7fcd6b643134fe66d63bd54844fcab58c178d7994bfac","first_computed_at":"2026-05-18T00:22:08.516310Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:22:08.516310Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YgGEJ2Hn+LlXYUPJaT6WtFf8GALHiiQxVFtsPLU8FEVFemlhJk/671+UEag86YH+SuDjvmncEwhTuJPMZ2tNDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:22:08.516861Z","signed_message":"canonical_sha256_bytes"},"source_id":"1802.08857","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:64d8a2ed1671c654b35d1c97b164dfe993e37b642842a69eb0a8a262ea33e76a","sha256:1d383fe48f00a6befb7f7d3e79ceb02fb26efa4fe487bc8433a6c13511bf11a8"],"state_sha256":"dc4d7b694f096eafeebd2d60e1d6a6b5ad6ded3c4e52bdae7c31ae7e05daf358"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"urooFmOPbQHYgOkEc8ZtZORhG0JvaaPuEo/bihl7LiByz0monK7z46C2c3e28xKj/I9cAsEWVe4J9EbaCjc9CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T18:38:19.332411Z","bundle_sha256":"a9c46f2a4febf8d244463446ac7ff244728c1ca203be3e3a0bc8fc3278951899"}}