{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2QFJOC2DR4QNFYYMFZHOS5FIYB","short_pith_number":"pith:2QFJOC2D","canonical_record":{"source":{"id":"2403.17667","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-26T12:57:05Z","cross_cats_sorted":[],"title_canon_sha256":"2405b29133f8817f59cd758f3ccce5b68775624b683641e79580d26aab74e053","abstract_canon_sha256":"7972ef635426881b70b528f50a19cf6e82fd2fef544a3ae15664846a8bde7fe2"},"schema_version":"1.0"},"canonical_sha256":"d40a970b438f20d2e30c2e4ee974a8c063d2e58e0165df992122630e19c92caa","source":{"kind":"arxiv","id":"2403.17667","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.17667","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.17667v3","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.17667","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_12","alias_value":"2QFJOC2DR4QN","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_16","alias_value":"2QFJOC2DR4QNFYYM","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_8","alias_value":"2QFJOC2D","created_at":"2026-07-05T11:46:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2QFJOC2DR4QNFYYMFZHOS5FIYB","target":"record","payload":{"canonical_record":{"source":{"id":"2403.17667","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-26T12:57:05Z","cross_cats_sorted":[],"title_canon_sha256":"2405b29133f8817f59cd758f3ccce5b68775624b683641e79580d26aab74e053","abstract_canon_sha256":"7972ef635426881b70b528f50a19cf6e82fd2fef544a3ae15664846a8bde7fe2"},"schema_version":"1.0"},"canonical_sha256":"d40a970b438f20d2e30c2e4ee974a8c063d2e58e0165df992122630e19c92caa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:46:34.322222Z","signature_b64":"JZPV2gXra6nGk4/hLDJkqrwFm9LtGAMU7sL/YC5+QzvgHjvWO6d149z9kr9UyzYnkS0xLWpXDTWj0gchgKtMBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d40a970b438f20d2e30c2e4ee974a8c063d2e58e0165df992122630e19c92caa","last_reissued_at":"2026-07-05T11:46:34.321660Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:46:34.321660Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.17667","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:46:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8qWEBWLXOVaNo2SadIDuLa/k4447nF03IecQSHbolTv42qZKO9uengyxVFzIyW0V369fd0ld5n3X6ln3G8XKCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:40:07.098931Z"},"content_sha256":"3a0bb74fd9b00ebc5c7eeb124aaf6217dc008b2fb98d0b7389cb508e5c66dedb","schema_version":"1.0","event_id":"sha256:3a0bb74fd9b00ebc5c7eeb124aaf6217dc008b2fb98d0b7389cb508e5c66dedb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2QFJOC2DR4QNFYYMFZHOS5FIYB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jo\\~ao Moura, Juan Del Aguila Ferrandis, Maren Bennewitz, Nils Dengler, Sethu Vijayakumar","submitted_at":"2024-03-26T12:57:05Z","abstract_excerpt":"In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its underactuated nature with hybrid-dynamics, where a robot needs to reason about an object's long-term behavior and contact-switching, while being robust to contact uncertainty. The presence of clutter in the workspace further complicates this task, introducing the need to include more advanced spatial analysis to avoid unwanted collisions. Building upon prior work on re"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.17667","kind":"arxiv","version":3},"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/2403.17667/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":"2026-07-05T11:46:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iI4UQTjhsMBPSJwSRdC4//LquapoFDZeH68zizeOLFcYx32IDFIb0RuhX8TsWrRA3gTIYMh7mdfTlIAf1a16BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:40:07.099329Z"},"content_sha256":"b82d6aa93525a6e1d7b0c8058bac325bfb3a9634de962cb62a11e8fc80446263","schema_version":"1.0","event_id":"sha256:b82d6aa93525a6e1d7b0c8058bac325bfb3a9634de962cb62a11e8fc80446263"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/bundle.json","state_url":"https://pith.science/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/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":"2026-07-06T17:40:07Z","links":{"resolver":"https://pith.science/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB","bundle":"https://pith.science/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/bundle.json","state":"https://pith.science/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2QFJOC2DR4QNFYYMFZHOS5FIYB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2QFJOC2DR4QNFYYMFZHOS5FIYB","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":"7972ef635426881b70b528f50a19cf6e82fd2fef544a3ae15664846a8bde7fe2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-26T12:57:05Z","title_canon_sha256":"2405b29133f8817f59cd758f3ccce5b68775624b683641e79580d26aab74e053"},"schema_version":"1.0","source":{"id":"2403.17667","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.17667","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.17667v3","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.17667","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_12","alias_value":"2QFJOC2DR4QN","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_16","alias_value":"2QFJOC2DR4QNFYYM","created_at":"2026-07-05T11:46:34Z"},{"alias_kind":"pith_short_8","alias_value":"2QFJOC2D","created_at":"2026-07-05T11:46:34Z"}],"graph_snapshots":[{"event_id":"sha256:b82d6aa93525a6e1d7b0c8058bac325bfb3a9634de962cb62a11e8fc80446263","target":"graph","created_at":"2026-07-05T11:46:34Z","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/2403.17667/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its underactuated nature with hybrid-dynamics, where a robot needs to reason about an object's long-term behavior and contact-switching, while being robust to contact uncertainty. The presence of clutter in the workspace further complicates this task, introducing the need to include more advanced spatial analysis to avoid unwanted collisions. Building upon prior work on re","authors_text":"Jo\\~ao Moura, Juan Del Aguila Ferrandis, Maren Bennewitz, Nils Dengler, Sethu Vijayakumar","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-26T12:57:05Z","title":"Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.17667","kind":"arxiv","version":3},"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":"sha256:3a0bb74fd9b00ebc5c7eeb124aaf6217dc008b2fb98d0b7389cb508e5c66dedb","target":"record","created_at":"2026-07-05T11:46:34Z","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":"7972ef635426881b70b528f50a19cf6e82fd2fef544a3ae15664846a8bde7fe2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-26T12:57:05Z","title_canon_sha256":"2405b29133f8817f59cd758f3ccce5b68775624b683641e79580d26aab74e053"},"schema_version":"1.0","source":{"id":"2403.17667","kind":"arxiv","version":3}},"canonical_sha256":"d40a970b438f20d2e30c2e4ee974a8c063d2e58e0165df992122630e19c92caa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d40a970b438f20d2e30c2e4ee974a8c063d2e58e0165df992122630e19c92caa","first_computed_at":"2026-07-05T11:46:34.321660Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:46:34.321660Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JZPV2gXra6nGk4/hLDJkqrwFm9LtGAMU7sL/YC5+QzvgHjvWO6d149z9kr9UyzYnkS0xLWpXDTWj0gchgKtMBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:46:34.322222Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.17667","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3a0bb74fd9b00ebc5c7eeb124aaf6217dc008b2fb98d0b7389cb508e5c66dedb","sha256:b82d6aa93525a6e1d7b0c8058bac325bfb3a9634de962cb62a11e8fc80446263"],"state_sha256":"42ee02dbcd7e2c054ad48d6f2f34ac4eeb697af821aa469e1f73601e8c162e65"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nEKdLT69rxegxU3tnnJ2q4v2AhNGm+4jSgo38XL3OZN3Q6qipCb8kDffip6JUBxbh9+GbTZ2c4kqOy8aC6TVAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T17:40:07.101431Z","bundle_sha256":"80896c7eefc1816a86a861bb02869494f39f63b139a9bb250cb8642c8f01f369"}}