{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BHIHA4GDSXHQ7N4MYHCU2WPO3U","short_pith_number":"pith:BHIHA4GD","canonical_record":{"source":{"id":"2511.04758","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-11-06T19:17:42Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"d993e80290af239f7a63cb1e6669b30155c1a7fdcd9af19dd935a2832d8d25ec","abstract_canon_sha256":"e4835ebf52d28ce0aee6b751c178dfa73165b9e7b843d64c56e1a543c3ce673f"},"schema_version":"1.0"},"canonical_sha256":"09d07070c395cf0fb78cc1c54d59eedd15c21c933b19b20171b9d0607b63f6c4","source":{"kind":"arxiv","id":"2511.04758","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2511.04758","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"arxiv_version","alias_value":"2511.04758v2","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2511.04758","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_12","alias_value":"BHIHA4GDSXHQ","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_16","alias_value":"BHIHA4GDSXHQ7N4M","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_8","alias_value":"BHIHA4GD","created_at":"2026-05-29T02:05:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BHIHA4GDSXHQ7N4MYHCU2WPO3U","target":"record","payload":{"canonical_record":{"source":{"id":"2511.04758","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-11-06T19:17:42Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"d993e80290af239f7a63cb1e6669b30155c1a7fdcd9af19dd935a2832d8d25ec","abstract_canon_sha256":"e4835ebf52d28ce0aee6b751c178dfa73165b9e7b843d64c56e1a543c3ce673f"},"schema_version":"1.0"},"canonical_sha256":"09d07070c395cf0fb78cc1c54d59eedd15c21c933b19b20171b9d0607b63f6c4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-29T02:05:37.601222Z","signature_b64":"LRfy30AD9vPBjGqrxCdL+FbtRKnXqEakJ6XuklmDqLl4eBMrBNLuJIMUJugQZeH5JMkgF8RzBm/iQF5aHIeTCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"09d07070c395cf0fb78cc1c54d59eedd15c21c933b19b20171b9d0607b63f6c4","last_reissued_at":"2026-05-29T02:05:37.600725Z","signature_status":"signed_v1","first_computed_at":"2026-05-29T02:05:37.600725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2511.04758","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":"2026-05-29T02:05:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"alIO0kN5W8Qv0zVFgtCYV9mYMR5AgFu952tcGDdqizwzSyfGGQQznW1y1UCbnxed8mlHKXJSZdPy8gWhxECDBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T05:43:57.926511Z"},"content_sha256":"0ddfbbc967b9a9c7bdeac0d167cde0c6ab00290cb83a4ed06d1879d31ac1924f","schema_version":"1.0","event_id":"sha256:0ddfbbc967b9a9c7bdeac0d167cde0c6ab00290cb83a4ed06d1879d31ac1924f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BHIHA4GDSXHQ7N4MYHCU2WPO3U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.MA"],"primary_cat":"cs.RO","authors_text":"Caelan Garrett, Fabio Ramos","submitted_at":"2025-11-06T19:17:42Z","abstract_excerpt":"Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid discrete-continuous action space. Task and Motion Planning (TAMP) algorithms can efficiently plan in hybrid spaces but generally produce plans, where only one arm is moving at a time, rather than schedules that allow for parallel arm motion. In order to extend TAMP to produce schedules, we present ScheduleStream, the first general-purpose framework for pla"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2511.04758","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/2511.04758/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":"2026-05-29T02:05:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h/AcEJqtMsEFmS/E1GrjOZsJMiHRCa9RKFXtnUs5ZeVa6jFOGN6IhcjVO7Q57yaeE2AJEtfd08fFbWJ7kWLuDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T05:43:57.926881Z"},"content_sha256":"4b31ba709f77d9ba61a8dfcec8ad620d9e3dc4e54e732431c75b06638e82421c","schema_version":"1.0","event_id":"sha256:4b31ba709f77d9ba61a8dfcec8ad620d9e3dc4e54e732431c75b06638e82421c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/bundle.json","state_url":"https://pith.science/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/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":"2026-06-24T05:43:57Z","links":{"resolver":"https://pith.science/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U","bundle":"https://pith.science/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/bundle.json","state":"https://pith.science/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BHIHA4GDSXHQ7N4MYHCU2WPO3U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BHIHA4GDSXHQ7N4MYHCU2WPO3U","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":"e4835ebf52d28ce0aee6b751c178dfa73165b9e7b843d64c56e1a543c3ce673f","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-11-06T19:17:42Z","title_canon_sha256":"d993e80290af239f7a63cb1e6669b30155c1a7fdcd9af19dd935a2832d8d25ec"},"schema_version":"1.0","source":{"id":"2511.04758","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2511.04758","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"arxiv_version","alias_value":"2511.04758v2","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2511.04758","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_12","alias_value":"BHIHA4GDSXHQ","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_16","alias_value":"BHIHA4GDSXHQ7N4M","created_at":"2026-05-29T02:05:37Z"},{"alias_kind":"pith_short_8","alias_value":"BHIHA4GD","created_at":"2026-05-29T02:05:37Z"}],"graph_snapshots":[{"event_id":"sha256:4b31ba709f77d9ba61a8dfcec8ad620d9e3dc4e54e732431c75b06638e82421c","target":"graph","created_at":"2026-05-29T02:05:37Z","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/2511.04758/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid discrete-continuous action space. Task and Motion Planning (TAMP) algorithms can efficiently plan in hybrid spaces but generally produce plans, where only one arm is moving at a time, rather than schedules that allow for parallel arm motion. In order to extend TAMP to produce schedules, we present ScheduleStream, the first general-purpose framework for pla","authors_text":"Caelan Garrett, Fabio Ramos","cross_cats":["cs.AI","cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-11-06T19:17:42Z","title":"ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2511.04758","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":"sha256:0ddfbbc967b9a9c7bdeac0d167cde0c6ab00290cb83a4ed06d1879d31ac1924f","target":"record","created_at":"2026-05-29T02:05:37Z","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":"e4835ebf52d28ce0aee6b751c178dfa73165b9e7b843d64c56e1a543c3ce673f","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-11-06T19:17:42Z","title_canon_sha256":"d993e80290af239f7a63cb1e6669b30155c1a7fdcd9af19dd935a2832d8d25ec"},"schema_version":"1.0","source":{"id":"2511.04758","kind":"arxiv","version":2}},"canonical_sha256":"09d07070c395cf0fb78cc1c54d59eedd15c21c933b19b20171b9d0607b63f6c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"09d07070c395cf0fb78cc1c54d59eedd15c21c933b19b20171b9d0607b63f6c4","first_computed_at":"2026-05-29T02:05:37.600725Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-29T02:05:37.600725Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LRfy30AD9vPBjGqrxCdL+FbtRKnXqEakJ6XuklmDqLl4eBMrBNLuJIMUJugQZeH5JMkgF8RzBm/iQF5aHIeTCg==","signature_status":"signed_v1","signed_at":"2026-05-29T02:05:37.601222Z","signed_message":"canonical_sha256_bytes"},"source_id":"2511.04758","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0ddfbbc967b9a9c7bdeac0d167cde0c6ab00290cb83a4ed06d1879d31ac1924f","sha256:4b31ba709f77d9ba61a8dfcec8ad620d9e3dc4e54e732431c75b06638e82421c"],"state_sha256":"d24027eca481fb62542002935fe1c5d21ec34082cfae4456f49a7ba906662669"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DxD41FepvWLK4qVC97fsCM+w3mAKLoamy7D/zxP4W/G1BwONXrVN390Q9x6Nplu3sbwNHkJ12v58E5csNWmQCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-24T05:43:57.928902Z","bundle_sha256":"688bd4c7a88b4623dc920c74ea4efd9bfbec2820afdd5b21960c79ed92d6bf81"}}