{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BSWNSIIMUPGEFXFDDREU5CGQCK","short_pith_number":"pith:BSWNSIIM","canonical_record":{"source":{"id":"2509.06201","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T20:28:21Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"6c27996151d0454eeda4d60984994a2d628f1163719a422ec896bfb3fe4097f5","abstract_canon_sha256":"1b2df7c1b257738443ea4125a93e65b28423e2fdc4e05b94b87fb3c88bafd404"},"schema_version":"1.0"},"canonical_sha256":"0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d","source":{"kind":"arxiv","id":"2509.06201","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.06201","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"arxiv_version","alias_value":"2509.06201v1","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.06201","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_12","alias_value":"BSWNSIIMUPGE","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_16","alias_value":"BSWNSIIMUPGEFXFD","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_8","alias_value":"BSWNSIIM","created_at":"2026-07-05T12:06:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BSWNSIIMUPGEFXFDDREU5CGQCK","target":"record","payload":{"canonical_record":{"source":{"id":"2509.06201","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T20:28:21Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"6c27996151d0454eeda4d60984994a2d628f1163719a422ec896bfb3fe4097f5","abstract_canon_sha256":"1b2df7c1b257738443ea4125a93e65b28423e2fdc4e05b94b87fb3c88bafd404"},"schema_version":"1.0"},"canonical_sha256":"0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:06:31.649475Z","signature_b64":"+GKmWOhX1i0H1/P7rDa89STlzm2FOcYdipYb5SJu61KqJ3FTFytdLFbF1fHTiFpQRjrPyWpfmgaiGc7LHxUyAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d","last_reissued_at":"2026-07-05T12:06:31.648946Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:06:31.648946Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.06201","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":"2026-07-05T12:06:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8weytFbFuxDZQql5kRqRpVohkfDRFFRx7lb/6gUVj528ndj8erm5nrSPdPKlU6Bzk3sFaSpGOXig8dQ4jssAAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:04:14.762987Z"},"content_sha256":"205a24e805c517ed9e67573102557fdd88278e22fc115497fcb849173236b28d","schema_version":"1.0","event_id":"sha256:205a24e805c517ed9e67573102557fdd88278e22fc115497fcb849173236b28d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BSWNSIIMUPGEFXFDDREU5CGQCK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Adithyavairavan Murali, Ajay Mandlekar, Balakumar Sundaralingam, Clemens Eppner, Ingmar Posner, Jun Yamada","submitted_at":"2025-09-07T20:28:21Z","abstract_excerpt":"Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes during grasping are the main causes of failure. In contrast, closed-loop methods address these challenges in simplified settings (e.g., single object on a table) on a limited set of objects, with no path to generalization. We propose Grasp-MPC, a closed-loop 6-DoF vision-based grasping policy designed for robust and reactive grasping of novel objects in cluttere"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.06201","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/2509.06201/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":"2026-07-05T12:06:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZH3EMTQB0xWTaxylioU0Wv+wwvHQgp+oG3Zz2xDSb5ssQfRZMhilskt1wAEGtKLvvOS4DaycDqaCndFmBG3TBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:04:14.763632Z"},"content_sha256":"ee12ddeaf58b1511dccac7ed13a9bc990d27f701c8d7180bc70746f6fc7b06b8","schema_version":"1.0","event_id":"sha256:ee12ddeaf58b1511dccac7ed13a9bc990d27f701c8d7180bc70746f6fc7b06b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/bundle.json","state_url":"https://pith.science/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/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":"2026-08-06T05:04:14Z","links":{"resolver":"https://pith.science/pith/BSWNSIIMUPGEFXFDDREU5CGQCK","bundle":"https://pith.science/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/bundle.json","state":"https://pith.science/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BSWNSIIMUPGEFXFDDREU5CGQCK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BSWNSIIMUPGEFXFDDREU5CGQCK","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":"1b2df7c1b257738443ea4125a93e65b28423e2fdc4e05b94b87fb3c88bafd404","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T20:28:21Z","title_canon_sha256":"6c27996151d0454eeda4d60984994a2d628f1163719a422ec896bfb3fe4097f5"},"schema_version":"1.0","source":{"id":"2509.06201","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.06201","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"arxiv_version","alias_value":"2509.06201v1","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.06201","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_12","alias_value":"BSWNSIIMUPGE","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_16","alias_value":"BSWNSIIMUPGEFXFD","created_at":"2026-07-05T12:06:31Z"},{"alias_kind":"pith_short_8","alias_value":"BSWNSIIM","created_at":"2026-07-05T12:06:31Z"}],"graph_snapshots":[{"event_id":"sha256:ee12ddeaf58b1511dccac7ed13a9bc990d27f701c8d7180bc70746f6fc7b06b8","target":"graph","created_at":"2026-07-05T12:06:31Z","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/2509.06201/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes during grasping are the main causes of failure. In contrast, closed-loop methods address these challenges in simplified settings (e.g., single object on a table) on a limited set of objects, with no path to generalization. We propose Grasp-MPC, a closed-loop 6-DoF vision-based grasping policy designed for robust and reactive grasping of novel objects in cluttere","authors_text":"Adithyavairavan Murali, Ajay Mandlekar, Balakumar Sundaralingam, Clemens Eppner, Ingmar Posner, Jun Yamada","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T20:28:21Z","title":"Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.06201","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":"sha256:205a24e805c517ed9e67573102557fdd88278e22fc115497fcb849173236b28d","target":"record","created_at":"2026-07-05T12:06:31Z","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":"1b2df7c1b257738443ea4125a93e65b28423e2fdc4e05b94b87fb3c88bafd404","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T20:28:21Z","title_canon_sha256":"6c27996151d0454eeda4d60984994a2d628f1163719a422ec896bfb3fe4097f5"},"schema_version":"1.0","source":{"id":"2509.06201","kind":"arxiv","version":1}},"canonical_sha256":"0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d","first_computed_at":"2026-07-05T12:06:31.648946Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:06:31.648946Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+GKmWOhX1i0H1/P7rDa89STlzm2FOcYdipYb5SJu61KqJ3FTFytdLFbF1fHTiFpQRjrPyWpfmgaiGc7LHxUyAA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:06:31.649475Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.06201","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:205a24e805c517ed9e67573102557fdd88278e22fc115497fcb849173236b28d","sha256:ee12ddeaf58b1511dccac7ed13a9bc990d27f701c8d7180bc70746f6fc7b06b8"],"state_sha256":"488e61f729ce4625cdd82f559df20683d1c87f2023842f7b7b974b2d0e638d5d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5qTQ3BVZxyAK0MI4HV0+hHZKSXKcWPDxkmGtj7lAa8ERMeLEd/BA1lmZ42RKj58N4qkdFosyX0TWHxLFyEdQCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T05:04:14.768932Z","bundle_sha256":"db543a6621f736e5e08f5940027736231f5edcb9e42bfc5c22b8ba4420d83b30"}}