{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:3KZ3GL3FB2KGA72BYOR4UF2QK7","short_pith_number":"pith:3KZ3GL3F","canonical_record":{"source":{"id":"2409.17116","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T17:28:36Z","cross_cats_sorted":[],"title_canon_sha256":"1156a9b6321b7519267f683fda0d4ad001838c6f294416a44a2670dc3e58418b","abstract_canon_sha256":"01c01b0cc673b8cdce7bffbe8bf51b7bbc11201b1adba3105893869094463e2e"},"schema_version":"1.0"},"canonical_sha256":"dab3b32f650e94607f41c3a3ca175057e3a95629c927e55a60ec903fbfcadaa6","source":{"kind":"arxiv","id":"2409.17116","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.17116","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"arxiv_version","alias_value":"2409.17116v2","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.17116","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_12","alias_value":"3KZ3GL3FB2KG","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_16","alias_value":"3KZ3GL3FB2KGA72B","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_8","alias_value":"3KZ3GL3F","created_at":"2026-07-05T11:01:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:3KZ3GL3FB2KGA72BYOR4UF2QK7","target":"record","payload":{"canonical_record":{"source":{"id":"2409.17116","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T17:28:36Z","cross_cats_sorted":[],"title_canon_sha256":"1156a9b6321b7519267f683fda0d4ad001838c6f294416a44a2670dc3e58418b","abstract_canon_sha256":"01c01b0cc673b8cdce7bffbe8bf51b7bbc11201b1adba3105893869094463e2e"},"schema_version":"1.0"},"canonical_sha256":"dab3b32f650e94607f41c3a3ca175057e3a95629c927e55a60ec903fbfcadaa6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:01:55.819970Z","signature_b64":"GJbLmqOYRuCdYRKskC3jcoasqoLAChkFrdQMFJ6Z/4CEi3WNaKbyv4MbjGrpESSM2j5Dai340kN0F78KyMtaAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dab3b32f650e94607f41c3a3ca175057e3a95629c927e55a60ec903fbfcadaa6","last_reissued_at":"2026-07-05T11:01:55.819463Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:01:55.819463Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.17116","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":"2026-07-05T11:01:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mSZgyOVdBgXYA4DeiLmcUpxe75D5kSFhfx/JJqND+P3VaSsINTxuYscrz5pBpMKMWvS8ADSFnYuv/lWzz+oGBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T13:37:44.774054Z"},"content_sha256":"321deec102fedf0382b7ad8c2ee31ffc4943df5c43ceec9746d969ded63b403d","schema_version":"1.0","event_id":"sha256:321deec102fedf0382b7ad8c2ee31ffc4943df5c43ceec9746d969ded63b403d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:3KZ3GL3FB2KGA72BYOR4UF2QK7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jingzong Zhou, Konstantinos Karydis, Zhichao Liu","submitted_at":"2024-09-25T17:28:36Z","abstract_excerpt":"This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce the first three-arm quadrupedal robot LocoHarv-3 and propose a novel hierarchical tri-manual planning approach, enabling automated fruit harvesting with collision-free trajectories. Our comprehensive semi-autonomous framework integrates teleoperation, supported by LiDAR-based odometry and mapping, with learning-based visual perception for accurate fruit det"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.17116","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2409.17116/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":"2026-07-05T11:01:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"okvREmtPEwe+EUbGeYye5Y+CdqklHY0UEdsnCydhVcnt13Xc34YkF5LUKrz2lTNLnb8dWs/FliySz3HSRPXIBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T13:37:44.774711Z"},"content_sha256":"33f289a7084bbfaeac15c59f78587f90da5ea672cab6968a6b8614dc01f622cd","schema_version":"1.0","event_id":"sha256:33f289a7084bbfaeac15c59f78587f90da5ea672cab6968a6b8614dc01f622cd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/bundle.json","state_url":"https://pith.science/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/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":"2026-08-22T13:37:44Z","links":{"resolver":"https://pith.science/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7","bundle":"https://pith.science/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/bundle.json","state":"https://pith.science/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3KZ3GL3FB2KGA72BYOR4UF2QK7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:3KZ3GL3FB2KGA72BYOR4UF2QK7","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":"01c01b0cc673b8cdce7bffbe8bf51b7bbc11201b1adba3105893869094463e2e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T17:28:36Z","title_canon_sha256":"1156a9b6321b7519267f683fda0d4ad001838c6f294416a44a2670dc3e58418b"},"schema_version":"1.0","source":{"id":"2409.17116","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.17116","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"arxiv_version","alias_value":"2409.17116v2","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.17116","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_12","alias_value":"3KZ3GL3FB2KG","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_16","alias_value":"3KZ3GL3FB2KGA72B","created_at":"2026-07-05T11:01:55Z"},{"alias_kind":"pith_short_8","alias_value":"3KZ3GL3F","created_at":"2026-07-05T11:01:55Z"}],"graph_snapshots":[{"event_id":"sha256:33f289a7084bbfaeac15c59f78587f90da5ea672cab6968a6b8614dc01f622cd","target":"graph","created_at":"2026-07-05T11:01:55Z","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/2409.17116/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce the first three-arm quadrupedal robot LocoHarv-3 and propose a novel hierarchical tri-manual planning approach, enabling automated fruit harvesting with collision-free trajectories. Our comprehensive semi-autonomous framework integrates teleoperation, supported by LiDAR-based odometry and mapping, with learning-based visual perception for accurate fruit det","authors_text":"Jingzong Zhou, Konstantinos Karydis, Zhichao Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T17:28:36Z","title":"Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.17116","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":"sha256:321deec102fedf0382b7ad8c2ee31ffc4943df5c43ceec9746d969ded63b403d","target":"record","created_at":"2026-07-05T11:01:55Z","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":"01c01b0cc673b8cdce7bffbe8bf51b7bbc11201b1adba3105893869094463e2e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T17:28:36Z","title_canon_sha256":"1156a9b6321b7519267f683fda0d4ad001838c6f294416a44a2670dc3e58418b"},"schema_version":"1.0","source":{"id":"2409.17116","kind":"arxiv","version":2}},"canonical_sha256":"dab3b32f650e94607f41c3a3ca175057e3a95629c927e55a60ec903fbfcadaa6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dab3b32f650e94607f41c3a3ca175057e3a95629c927e55a60ec903fbfcadaa6","first_computed_at":"2026-07-05T11:01:55.819463Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:01:55.819463Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GJbLmqOYRuCdYRKskC3jcoasqoLAChkFrdQMFJ6Z/4CEi3WNaKbyv4MbjGrpESSM2j5Dai340kN0F78KyMtaAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:01:55.819970Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.17116","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:321deec102fedf0382b7ad8c2ee31ffc4943df5c43ceec9746d969ded63b403d","sha256:33f289a7084bbfaeac15c59f78587f90da5ea672cab6968a6b8614dc01f622cd"],"state_sha256":"d0bb980cdd7100859c8b5301c7c68096e645bb6722a06d01d8b5c2d5944af38d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x+9QPDGBKewt/YvANccOiZvIJ/4PWEqA7NFnX/N35Of5KEbCjRK/ZLVlWhBzTPQgpBULM9KPzm0yphRaqtm/AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T13:37:44.779796Z","bundle_sha256":"1e3eb9f4ea10881047f13aeb05ebc822ad7cb7e20d22555814be7ec07ba50b53"}}