{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BKJ46OE3EQFFVIWKJSKIMH3VWM","short_pith_number":"pith:BKJ46OE3","canonical_record":{"source":{"id":"2502.07005","kind":"arxiv","version":6},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2025-02-10T20:10:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3d7ec95f44f33fb1d6511f72e79395327e674653997414d6137ec70f447a2875","abstract_canon_sha256":"daa5ad695b4fd96dc54001c7149c53fef30f4371343ed8de0b4f568d4a6207e8"},"schema_version":"1.0"},"canonical_sha256":"0a93cf389b240a5aa2ca4c94861f75b304999b36e10ae90a661e53e0086a7b54","source":{"kind":"arxiv","id":"2502.07005","version":6},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.07005","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"arxiv_version","alias_value":"2502.07005v6","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.07005","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_12","alias_value":"BKJ46OE3EQFF","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_16","alias_value":"BKJ46OE3EQFFVIWK","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_8","alias_value":"BKJ46OE3","created_at":"2026-07-05T10:49:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BKJ46OE3EQFFVIWKJSKIMH3VWM","target":"record","payload":{"canonical_record":{"source":{"id":"2502.07005","kind":"arxiv","version":6},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2025-02-10T20:10:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"3d7ec95f44f33fb1d6511f72e79395327e674653997414d6137ec70f447a2875","abstract_canon_sha256":"daa5ad695b4fd96dc54001c7149c53fef30f4371343ed8de0b4f568d4a6207e8"},"schema_version":"1.0"},"canonical_sha256":"0a93cf389b240a5aa2ca4c94861f75b304999b36e10ae90a661e53e0086a7b54","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:49:51.395996Z","signature_b64":"YvShWIZcP09U9jbm6BQ/JtE78mWmIRbCV/uLtnfL3aI0ZDJgvmGez3U/ykMwrV1B0XMt9lphnPRX3+dRcGkeDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0a93cf389b240a5aa2ca4c94861f75b304999b36e10ae90a661e53e0086a7b54","last_reissued_at":"2026-07-05T10:49:51.395510Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:49:51.395510Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.07005","source_version":6,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:49:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GoYN1e6j668keH+97B0egizEtH39AsrA7/5aJDvpWT7qaEGw1UyYZ7VYmKFlUv7ZEvQgcX618koPlrEQ4RWvBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T07:53:38.272751Z"},"content_sha256":"2d055e02fb1d0f96c18fc8b4db5473fcd601c9c197f5e84b29c74785d7b9f2fd","schema_version":"1.0","event_id":"sha256:2d055e02fb1d0f96c18fc8b4db5473fcd601c9c197f5e84b29c74785d7b9f2fd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BKJ46OE3EQFFVIWKJSKIMH3VWM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objects","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Gerhard Neumann, Huy Le, Philipp Becker, Tai Hoang, Vien Anh Ngo","submitted_at":"2025-02-10T20:10:25Z","abstract_excerpt":"Manipulating objects with varying geometries and deformable objects is a major challenge in robotics. Tasks such as insertion with different objects or cloth hanging require precise control and effective modelling of complex dynamics. In this work, we frame this problem through the lens of a heterogeneous graph that comprises smaller sub-graphs, such as actuators and objects, accompanied by different edge types describing their interactions. This graph representation serves as a unified structure for both rigid and deformable objects tasks, and can be extended further to tasks comprising multi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.07005","kind":"arxiv","version":6},"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/2502.07005/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":"2026-07-05T10:49:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qr8P1Cpoi2b9+o1V3DzGB+T6L1urC7VxnMhtTRXhnXX0knQtkaRqz7V6Rxvsyv1i8oO7bdAU1py5NqEAjAEUAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T07:53:38.273311Z"},"content_sha256":"68b34a39fbbb8b9e779673eccc40eba15cc4698a0fa926df852f27966f31448d","schema_version":"1.0","event_id":"sha256:68b34a39fbbb8b9e779673eccc40eba15cc4698a0fa926df852f27966f31448d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/bundle.json","state_url":"https://pith.science/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/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":"2026-08-09T07:53:38Z","links":{"resolver":"https://pith.science/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM","bundle":"https://pith.science/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/bundle.json","state":"https://pith.science/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BKJ46OE3EQFFVIWKJSKIMH3VWM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BKJ46OE3EQFFVIWKJSKIMH3VWM","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":"daa5ad695b4fd96dc54001c7149c53fef30f4371343ed8de0b4f568d4a6207e8","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2025-02-10T20:10:25Z","title_canon_sha256":"3d7ec95f44f33fb1d6511f72e79395327e674653997414d6137ec70f447a2875"},"schema_version":"1.0","source":{"id":"2502.07005","kind":"arxiv","version":6}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.07005","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"arxiv_version","alias_value":"2502.07005v6","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.07005","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_12","alias_value":"BKJ46OE3EQFF","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_16","alias_value":"BKJ46OE3EQFFVIWK","created_at":"2026-07-05T10:49:51Z"},{"alias_kind":"pith_short_8","alias_value":"BKJ46OE3","created_at":"2026-07-05T10:49:51Z"}],"graph_snapshots":[{"event_id":"sha256:68b34a39fbbb8b9e779673eccc40eba15cc4698a0fa926df852f27966f31448d","target":"graph","created_at":"2026-07-05T10:49:51Z","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/2502.07005/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Manipulating objects with varying geometries and deformable objects is a major challenge in robotics. Tasks such as insertion with different objects or cloth hanging require precise control and effective modelling of complex dynamics. In this work, we frame this problem through the lens of a heterogeneous graph that comprises smaller sub-graphs, such as actuators and objects, accompanied by different edge types describing their interactions. This graph representation serves as a unified structure for both rigid and deformable objects tasks, and can be extended further to tasks comprising multi","authors_text":"Gerhard Neumann, Huy Le, Philipp Becker, Tai Hoang, Vien Anh Ngo","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2025-02-10T20:10:25Z","title":"Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.07005","kind":"arxiv","version":6},"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":"sha256:2d055e02fb1d0f96c18fc8b4db5473fcd601c9c197f5e84b29c74785d7b9f2fd","target":"record","created_at":"2026-07-05T10:49:51Z","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":"daa5ad695b4fd96dc54001c7149c53fef30f4371343ed8de0b4f568d4a6207e8","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2025-02-10T20:10:25Z","title_canon_sha256":"3d7ec95f44f33fb1d6511f72e79395327e674653997414d6137ec70f447a2875"},"schema_version":"1.0","source":{"id":"2502.07005","kind":"arxiv","version":6}},"canonical_sha256":"0a93cf389b240a5aa2ca4c94861f75b304999b36e10ae90a661e53e0086a7b54","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0a93cf389b240a5aa2ca4c94861f75b304999b36e10ae90a661e53e0086a7b54","first_computed_at":"2026-07-05T10:49:51.395510Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:49:51.395510Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YvShWIZcP09U9jbm6BQ/JtE78mWmIRbCV/uLtnfL3aI0ZDJgvmGez3U/ykMwrV1B0XMt9lphnPRX3+dRcGkeDg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:49:51.395996Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.07005","source_kind":"arxiv","source_version":6}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d055e02fb1d0f96c18fc8b4db5473fcd601c9c197f5e84b29c74785d7b9f2fd","sha256:68b34a39fbbb8b9e779673eccc40eba15cc4698a0fa926df852f27966f31448d"],"state_sha256":"52e0233934862804a5902d8d59c21983336d666561af55714b6860f4593d565d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YGZ+CN2/DBAV4jFl8goCIXP3NyJesY+3J6dSc2KYikfKkGts+TIqGDYU4jU7Eseb/DfwbzmisIunbBtNNS2rAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T07:53:38.277598Z","bundle_sha256":"e922e6414e289272abea6af2c7b04892113b85a2f1ee05b224fd5c4968f17382"}}