{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BFZ3GXHGDR53KXVKFCNNF4BZRZ","short_pith_number":"pith:BFZ3GXHG","canonical_record":{"source":{"id":"2505.13350","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T16:52:53Z","cross_cats_sorted":[],"title_canon_sha256":"dd13db53c9d6b145874d58dbacad1335a1a0428f87fe73934793a9aa798361fd","abstract_canon_sha256":"cf0bd7a969fc2d77b98e51df84389990e7444f061d762f62696af3f3cd114d6a"},"schema_version":"1.0"},"canonical_sha256":"0973b35ce61c7bb55eaa289ad2f0398e688d5cc209fed57d0803f1a7d8a10460","source":{"kind":"arxiv","id":"2505.13350","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.13350","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"arxiv_version","alias_value":"2505.13350v2","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.13350","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_12","alias_value":"BFZ3GXHGDR53","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_16","alias_value":"BFZ3GXHGDR53KXVK","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_8","alias_value":"BFZ3GXHG","created_at":"2026-05-20T00:00:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BFZ3GXHGDR53KXVKFCNNF4BZRZ","target":"record","payload":{"canonical_record":{"source":{"id":"2505.13350","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T16:52:53Z","cross_cats_sorted":[],"title_canon_sha256":"dd13db53c9d6b145874d58dbacad1335a1a0428f87fe73934793a9aa798361fd","abstract_canon_sha256":"cf0bd7a969fc2d77b98e51df84389990e7444f061d762f62696af3f3cd114d6a"},"schema_version":"1.0"},"canonical_sha256":"0973b35ce61c7bb55eaa289ad2f0398e688d5cc209fed57d0803f1a7d8a10460","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:00:19.968469Z","signature_b64":"WtzyaNyB9BPpLAEpfPryMNocetsgIT+Mo7IxK1LPTUyHiLtROWJgWZSIMjkQ5UC3ysay1YygV7z5xD1O+ZKyCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0973b35ce61c7bb55eaa289ad2f0398e688d5cc209fed57d0803f1a7d8a10460","last_reissued_at":"2026-05-20T00:00:19.967771Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:00:19.967771Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.13350","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":"2026-05-20T00:00:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3WR60ld9kf4u7tC00hCdrIjWtMzXWSxtSBkOG6mFns37TU3DJMy9nQ0lSgVTxLAq4O5fG/DwQBfEQBg7m9BhDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T09:48:02.712371Z"},"content_sha256":"e7032c49b581d11baded9a4df71938e8521fa8d041508f7993465bea617f13a1","schema_version":"1.0","event_id":"sha256:e7032c49b581d11baded9a4df71938e8521fa8d041508f7993465bea617f13a1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BFZ3GXHGDR53KXVKFCNNF4BZRZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alp Aydinoglu, Bibit Bianchini, Michael Posa, Sharanya Venkatesh, William Yang","submitted_at":"2025-05-19T16:52:53Z","abstract_excerpt":"To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible contact sequences. Instead, recent progress in contact-implicit control has leveraged simpler models that, while still hybrid, make local approximations. However, the use of local models inherently limits the controller to only exploit nearby interactions, potentially requiring intervention to richly explore the space of possible contacts. We present a novel ap"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.13350","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/2505.13350/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":"2026-05-20T00:00:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pq5YOy2mu4nRbUq8aYJLr/UhvLfoBd7GTohKerBj3LCmTxs23Lrs4CGokDdF5M5sOeaq5MQjsgpp/Gd+I2syBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T09:48:02.713083Z"},"content_sha256":"6ab829e9f2ce553100680ca69f40ef154993b347f21eb0e31156a5d28f272095","schema_version":"1.0","event_id":"sha256:6ab829e9f2ce553100680ca69f40ef154993b347f21eb0e31156a5d28f272095"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/bundle.json","state_url":"https://pith.science/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/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":"2026-05-25T09:48:02Z","links":{"resolver":"https://pith.science/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ","bundle":"https://pith.science/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/bundle.json","state":"https://pith.science/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BFZ3GXHGDR53KXVKFCNNF4BZRZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BFZ3GXHGDR53KXVKFCNNF4BZRZ","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":"cf0bd7a969fc2d77b98e51df84389990e7444f061d762f62696af3f3cd114d6a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T16:52:53Z","title_canon_sha256":"dd13db53c9d6b145874d58dbacad1335a1a0428f87fe73934793a9aa798361fd"},"schema_version":"1.0","source":{"id":"2505.13350","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.13350","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"arxiv_version","alias_value":"2505.13350v2","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.13350","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_12","alias_value":"BFZ3GXHGDR53","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_16","alias_value":"BFZ3GXHGDR53KXVK","created_at":"2026-05-20T00:00:19Z"},{"alias_kind":"pith_short_8","alias_value":"BFZ3GXHG","created_at":"2026-05-20T00:00:19Z"}],"graph_snapshots":[{"event_id":"sha256:6ab829e9f2ce553100680ca69f40ef154993b347f21eb0e31156a5d28f272095","target":"graph","created_at":"2026-05-20T00:00:19Z","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/2505.13350/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible contact sequences. Instead, recent progress in contact-implicit control has leveraged simpler models that, while still hybrid, make local approximations. However, the use of local models inherently limits the controller to only exploit nearby interactions, potentially requiring intervention to richly explore the space of possible contacts. We present a novel ap","authors_text":"Alp Aydinoglu, Bibit Bianchini, Michael Posa, Sharanya Venkatesh, William Yang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T16:52:53Z","title":"Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.13350","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:e7032c49b581d11baded9a4df71938e8521fa8d041508f7993465bea617f13a1","target":"record","created_at":"2026-05-20T00:00:19Z","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":"cf0bd7a969fc2d77b98e51df84389990e7444f061d762f62696af3f3cd114d6a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T16:52:53Z","title_canon_sha256":"dd13db53c9d6b145874d58dbacad1335a1a0428f87fe73934793a9aa798361fd"},"schema_version":"1.0","source":{"id":"2505.13350","kind":"arxiv","version":2}},"canonical_sha256":"0973b35ce61c7bb55eaa289ad2f0398e688d5cc209fed57d0803f1a7d8a10460","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0973b35ce61c7bb55eaa289ad2f0398e688d5cc209fed57d0803f1a7d8a10460","first_computed_at":"2026-05-20T00:00:19.967771Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:00:19.967771Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WtzyaNyB9BPpLAEpfPryMNocetsgIT+Mo7IxK1LPTUyHiLtROWJgWZSIMjkQ5UC3ysay1YygV7z5xD1O+ZKyCg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:00:19.968469Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.13350","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e7032c49b581d11baded9a4df71938e8521fa8d041508f7993465bea617f13a1","sha256:6ab829e9f2ce553100680ca69f40ef154993b347f21eb0e31156a5d28f272095"],"state_sha256":"ac6066ad9282cc7af6d4e9376bc4e99b26e86d04a0d1cc10d8d05df8c2700ea8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ahNKPligntFMXUSZQkZuUf1JFL+l7GrgyjBBk3N8sHQDGZu0M/yNJG80ooTwegrql6nE17OhJZ0RY19InD4UDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T09:48:02.721059Z","bundle_sha256":"f49b95b99b391fe4b5916c3fdb57fc49d6e43db229acda7bd30b4f5da005863a"}}