{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:56G7QQIQOK6J7JUMYN2KOETIKO","short_pith_number":"pith:56G7QQIQ","canonical_record":{"source":{"id":"2304.09260","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-18T19:48:42Z","cross_cats_sorted":[],"title_canon_sha256":"76f40d2e624b26050f4612366765333a6c4b39b1619c9f7bbe4b2fa6c3777038","abstract_canon_sha256":"8a39fd65c8ee6f7c1fc0461dcb3832effb2f28b5162019271c72bed09e995089"},"schema_version":"1.0"},"canonical_sha256":"ef8df8411072bc9fa68cc374a7126853851d4bb4d63a204aede8022b7748031d","source":{"kind":"arxiv","id":"2304.09260","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.09260","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"arxiv_version","alias_value":"2304.09260v1","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.09260","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_12","alias_value":"56G7QQIQOK6J","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_16","alias_value":"56G7QQIQOK6J7JUM","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_8","alias_value":"56G7QQIQ","created_at":"2026-07-05T06:02:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:56G7QQIQOK6J7JUMYN2KOETIKO","target":"record","payload":{"canonical_record":{"source":{"id":"2304.09260","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-18T19:48:42Z","cross_cats_sorted":[],"title_canon_sha256":"76f40d2e624b26050f4612366765333a6c4b39b1619c9f7bbe4b2fa6c3777038","abstract_canon_sha256":"8a39fd65c8ee6f7c1fc0461dcb3832effb2f28b5162019271c72bed09e995089"},"schema_version":"1.0"},"canonical_sha256":"ef8df8411072bc9fa68cc374a7126853851d4bb4d63a204aede8022b7748031d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:02:35.963725Z","signature_b64":"oN61KWMz0o5isfQM9PHghy6LuHppWEI2O+fbVdjIXMJ28Szu5GfKlIOOdX+Z3xqYvkfWZTLlUUpcnCpyAqWZDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef8df8411072bc9fa68cc374a7126853851d4bb4d63a204aede8022b7748031d","last_reissued_at":"2026-07-05T06:02:35.963372Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:02:35.963372Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2304.09260","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:02:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8Vp7YSHQoRvMmzYOwuLKltGIcIqWp+l1Ukp9gieNExlr8uWLgSok4SghD7GncCps8Hjs0rKegpFlyS3shuB+Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T15:07:07.842575Z"},"content_sha256":"901c324dd93710ee2c6631add73e5f1735625be5ce5010868b5377afc90ca6a5","schema_version":"1.0","event_id":"sha256:901c324dd93710ee2c6631add73e5f1735625be5ce5010868b5377afc90ca6a5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:56G7QQIQOK6J7JUMYN2KOETIKO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hybrid Task Constrained Planner for Robot Manipulator in Confined Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Changliu Liu, Weiye Zhao, Yifan Sun","submitted_at":"2023-04-18T19:48:42Z","abstract_excerpt":"Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to search for optimal trajectories in both the configuration space and null space, generating high-quality trajectories that satisfy task constraints and collision avoidance constraints, while also avoiding local optima for incremental planners. Our approach is evaluated in an onsite polishing scenario with various robot and workpiece configurations, demonstrati"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.09260","kind":"arxiv","version":1},"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/2304.09260/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":"2026-07-05T06:02:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qSJv3xLn9MxujoSZOqVQd0rkF/U3FvbV6oQGhNk9+t+FjSlv+8PF6CSnjmk8PAmzgqUQ2Yx6D3iqq/PjADdDAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T15:07:07.843576Z"},"content_sha256":"1d091d239b0e499a6fb6dc2e263c4a8dea7d7ffe0f8443fda5299f5188475c50","schema_version":"1.0","event_id":"sha256:1d091d239b0e499a6fb6dc2e263c4a8dea7d7ffe0f8443fda5299f5188475c50"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/56G7QQIQOK6J7JUMYN2KOETIKO/bundle.json","state_url":"https://pith.science/pith/56G7QQIQOK6J7JUMYN2KOETIKO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/56G7QQIQOK6J7JUMYN2KOETIKO/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":"2026-08-18T15:07:07Z","links":{"resolver":"https://pith.science/pith/56G7QQIQOK6J7JUMYN2KOETIKO","bundle":"https://pith.science/pith/56G7QQIQOK6J7JUMYN2KOETIKO/bundle.json","state":"https://pith.science/pith/56G7QQIQOK6J7JUMYN2KOETIKO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/56G7QQIQOK6J7JUMYN2KOETIKO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:56G7QQIQOK6J7JUMYN2KOETIKO","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":"8a39fd65c8ee6f7c1fc0461dcb3832effb2f28b5162019271c72bed09e995089","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-18T19:48:42Z","title_canon_sha256":"76f40d2e624b26050f4612366765333a6c4b39b1619c9f7bbe4b2fa6c3777038"},"schema_version":"1.0","source":{"id":"2304.09260","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.09260","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"arxiv_version","alias_value":"2304.09260v1","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.09260","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_12","alias_value":"56G7QQIQOK6J","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_16","alias_value":"56G7QQIQOK6J7JUM","created_at":"2026-07-05T06:02:35Z"},{"alias_kind":"pith_short_8","alias_value":"56G7QQIQ","created_at":"2026-07-05T06:02:35Z"}],"graph_snapshots":[{"event_id":"sha256:1d091d239b0e499a6fb6dc2e263c4a8dea7d7ffe0f8443fda5299f5188475c50","target":"graph","created_at":"2026-07-05T06:02:35Z","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/2304.09260/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to search for optimal trajectories in both the configuration space and null space, generating high-quality trajectories that satisfy task constraints and collision avoidance constraints, while also avoiding local optima for incremental planners. Our approach is evaluated in an onsite polishing scenario with various robot and workpiece configurations, demonstrati","authors_text":"Changliu Liu, Weiye Zhao, Yifan Sun","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-18T19:48:42Z","title":"Hybrid Task Constrained Planner for Robot Manipulator in Confined Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.09260","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":"sha256:901c324dd93710ee2c6631add73e5f1735625be5ce5010868b5377afc90ca6a5","target":"record","created_at":"2026-07-05T06:02:35Z","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":"8a39fd65c8ee6f7c1fc0461dcb3832effb2f28b5162019271c72bed09e995089","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-18T19:48:42Z","title_canon_sha256":"76f40d2e624b26050f4612366765333a6c4b39b1619c9f7bbe4b2fa6c3777038"},"schema_version":"1.0","source":{"id":"2304.09260","kind":"arxiv","version":1}},"canonical_sha256":"ef8df8411072bc9fa68cc374a7126853851d4bb4d63a204aede8022b7748031d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef8df8411072bc9fa68cc374a7126853851d4bb4d63a204aede8022b7748031d","first_computed_at":"2026-07-05T06:02:35.963372Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:02:35.963372Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oN61KWMz0o5isfQM9PHghy6LuHppWEI2O+fbVdjIXMJ28Szu5GfKlIOOdX+Z3xqYvkfWZTLlUUpcnCpyAqWZDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:02:35.963725Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.09260","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:901c324dd93710ee2c6631add73e5f1735625be5ce5010868b5377afc90ca6a5","sha256:1d091d239b0e499a6fb6dc2e263c4a8dea7d7ffe0f8443fda5299f5188475c50"],"state_sha256":"e8b3a70d814183078f075f727ef0c5cc8cd753b38853aa8f723bbc4ff5eea9f5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3i1c/qJPciofMayUKPiEkQJ/Zn4bUXSIm7+kESTSY1F6U/ElCOlp3oUWRupkjQt3XUvhv+m65cSoRjnWRgGvAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T15:07:07.852100Z","bundle_sha256":"0c7c26fa074e929cccf13600d68bc1dacfe359170b107d7e4be905277821e23c"}}