{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:52EZHXKJGH3JSZB7JUGZHAJKBV","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":"216aac2e7591b995329f28552cfd51979a6b727e2fddece8f10988c393cffaa8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T06:54:53Z","title_canon_sha256":"a55d954e5813255d891e0e49832e131a39b671b13e12a0d2477c65041f04d77c"},"schema_version":"1.0","source":{"id":"2203.08423","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.08423","created_at":"2026-07-05T05:02:41Z"},{"alias_kind":"arxiv_version","alias_value":"2203.08423v1","created_at":"2026-07-05T05:02:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.08423","created_at":"2026-07-05T05:02:41Z"},{"alias_kind":"pith_short_12","alias_value":"52EZHXKJGH3J","created_at":"2026-07-05T05:02:41Z"},{"alias_kind":"pith_short_16","alias_value":"52EZHXKJGH3JSZB7","created_at":"2026-07-05T05:02:41Z"},{"alias_kind":"pith_short_8","alias_value":"52EZHXKJ","created_at":"2026-07-05T05:02:41Z"}],"graph_snapshots":[{"event_id":"sha256:4dd0e1833dcd59a9830c5d83ccad5f708d4c59abf154689903961d78c1af1288","target":"graph","created_at":"2026-07-05T05:02:41Z","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/2203.08423/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose \"on-the-go\" handovers which permit a moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers","authors_text":"Akansel Cosgun, Dana Kuli\\'c, Elizabeth Croft, Kerry He, Pradeepsundar Simini, Wesley Chan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T06:54:53Z","title":"On-The-Go Robot-to-Human Handovers with a Mobile Manipulator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.08423","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":"sha256:6b7096fbaeefed4b232e0de903bc4b312eeb67146102a0dcfa022c6caee231fd","target":"record","created_at":"2026-07-05T05:02:41Z","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":"216aac2e7591b995329f28552cfd51979a6b727e2fddece8f10988c393cffaa8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-16T06:54:53Z","title_canon_sha256":"a55d954e5813255d891e0e49832e131a39b671b13e12a0d2477c65041f04d77c"},"schema_version":"1.0","source":{"id":"2203.08423","kind":"arxiv","version":1}},"canonical_sha256":"ee8993dd4931f699643f4d0d93812a0d73fd2b20e3e17ea097693ffe0674cef6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee8993dd4931f699643f4d0d93812a0d73fd2b20e3e17ea097693ffe0674cef6","first_computed_at":"2026-07-05T05:02:41.321752Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:02:41.321752Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JrNajxYWWnBAkdlcOSCkFiCTVYF+vy95deFskzTJM0KsoDndPW7alJt7nxdvzClL985/nz45SprbgKHBgjjHBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:02:41.322340Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.08423","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6b7096fbaeefed4b232e0de903bc4b312eeb67146102a0dcfa022c6caee231fd","sha256:4dd0e1833dcd59a9830c5d83ccad5f708d4c59abf154689903961d78c1af1288"],"state_sha256":"5b2134e509cd077818cc6c12c9a17c8fe3975ed1264577d88682620a0011bc4f"}