{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2D5KCPS3L4YUJWWU6Z7KFN66K3","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":"906e78729ecd1c97df57be388db43c2fc67bccf17d194e0a8ba0ad2e05e83124","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T17:00:52Z","title_canon_sha256":"af8effc085cbbd01de0afac69ab16da83843d39e75d2ff84003e18bb123b9511"},"schema_version":"1.0","source":{"id":"2411.11733","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.11733","created_at":"2026-07-05T09:37:00Z"},{"alias_kind":"arxiv_version","alias_value":"2411.11733v1","created_at":"2026-07-05T09:37:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.11733","created_at":"2026-07-05T09:37:00Z"},{"alias_kind":"pith_short_12","alias_value":"2D5KCPS3L4YU","created_at":"2026-07-05T09:37:00Z"},{"alias_kind":"pith_short_16","alias_value":"2D5KCPS3L4YUJWWU","created_at":"2026-07-05T09:37:00Z"},{"alias_kind":"pith_short_8","alias_value":"2D5KCPS3","created_at":"2026-07-05T09:37:00Z"}],"graph_snapshots":[{"event_id":"sha256:54ddab5f5af0ea4e0273ff9a2ee31174b717d94aab8251136d774ac35c27653f","target":"graph","created_at":"2026-07-05T09:37:00Z","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/2411.11733/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and rearrangement planning, limiting their practicality in real-world scenarios. This paper presents a new, integrated heuristic-based active sensing and Monte-Carlo Tree Search (MCTS)-based retrieval planning approach. These components provide feedback to one another to actively sense critical, unobserved areas suitable for the retrieval planner to plan a sequence for ","authors_text":"Ahmed H. Qureshi, Hanwen Ren, Junyong Kim","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T17:00:52Z","title":"Integrating Active Sensing and Rearrangement Planning for Efficient Object Retrieval from Unknown, Confined, Cluttered Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.11733","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:c4eef6827618e462a83bbf992cf627b6ccbc3707672ad6260fd6ea8d0bf58b3b","target":"record","created_at":"2026-07-05T09:37:00Z","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":"906e78729ecd1c97df57be388db43c2fc67bccf17d194e0a8ba0ad2e05e83124","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T17:00:52Z","title_canon_sha256":"af8effc085cbbd01de0afac69ab16da83843d39e75d2ff84003e18bb123b9511"},"schema_version":"1.0","source":{"id":"2411.11733","kind":"arxiv","version":1}},"canonical_sha256":"d0faa13e5b5f3144dad4f67ea2b7de56d68f92255f53aed903781a08934ff06a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d0faa13e5b5f3144dad4f67ea2b7de56d68f92255f53aed903781a08934ff06a","first_computed_at":"2026-07-05T09:37:00.346734Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:37:00.346734Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JWSUl0oNzWEFCllBr1q6L9E4OGCoVbaVkJWtGuJz7Wi2TmFH0W48LxF6oYDEKluyW4ETZfZbB6xrPCWRCWXpDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:37:00.348536Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.11733","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c4eef6827618e462a83bbf992cf627b6ccbc3707672ad6260fd6ea8d0bf58b3b","sha256:54ddab5f5af0ea4e0273ff9a2ee31174b717d94aab8251136d774ac35c27653f"],"state_sha256":"f96e1ca809f5c30cdeed69cce46338fb498abfb75a6f47a5cbeefd846a46a2d9"}