{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:D7TL5O3TWDODCJ5FK2VEB37UQY","short_pith_number":"pith:D7TL5O3T","canonical_record":{"source":{"id":"2501.11946","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-01-21T07:42:18Z","cross_cats_sorted":[],"title_canon_sha256":"361f645b51c592eeaaa5f2b8fc14ce4be7edceae976d7a8c5678cc006603adf4","abstract_canon_sha256":"2895a1a6448fdfc6dde940598207899e9686399b4dcead523100ad61d23d3cac"},"schema_version":"1.0"},"canonical_sha256":"1fe6bebb73b0dc3127a556aa40eff48610835fb28f6090da6dc2a3555bf275b4","source":{"kind":"arxiv","id":"2501.11946","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.11946","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"arxiv_version","alias_value":"2501.11946v1","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.11946","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_12","alias_value":"D7TL5O3TWDOD","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_16","alias_value":"D7TL5O3TWDODCJ5F","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_8","alias_value":"D7TL5O3T","created_at":"2026-07-05T10:03:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:D7TL5O3TWDODCJ5FK2VEB37UQY","target":"record","payload":{"canonical_record":{"source":{"id":"2501.11946","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-01-21T07:42:18Z","cross_cats_sorted":[],"title_canon_sha256":"361f645b51c592eeaaa5f2b8fc14ce4be7edceae976d7a8c5678cc006603adf4","abstract_canon_sha256":"2895a1a6448fdfc6dde940598207899e9686399b4dcead523100ad61d23d3cac"},"schema_version":"1.0"},"canonical_sha256":"1fe6bebb73b0dc3127a556aa40eff48610835fb28f6090da6dc2a3555bf275b4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:03:16.421420Z","signature_b64":"NU3OnUUxMWKa0ctl/sxT52MD/gVvGVCQ2gaX9gEcE9m+fNeaFR2ENi1+WadXX/vd8OEO1ODXQZy4m5wG0REaBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1fe6bebb73b0dc3127a556aa40eff48610835fb28f6090da6dc2a3555bf275b4","last_reissued_at":"2026-07-05T10:03:16.420903Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:03:16.420903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2501.11946","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":"2026-07-05T10:03:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FzKI34KNSuDjBICyhaXsqYJo38tY6VZQ9g12aaz2WBtrv5o2qybXkgG8aOk22sX4sDSGGiyhVI5dFhDZgTItCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T23:48:25.410809Z"},"content_sha256":"f36bad4b4f5cd9ef63b45c5b86b65d68fb7ddff05fa994490cb526427904f467","schema_version":"1.0","event_id":"sha256:f36bad4b4f5cd9ef63b45c5b86b65d68fb7ddff05fa994490cb526427904f467"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:D7TL5O3TWDODCJ5FK2VEB37UQY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Anton Pozharskiy, Armin Nurkanovi\\'c, Moritz Diehl","submitted_at":"2025-01-21T07:42:18Z","abstract_excerpt":"We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent gradient complementarity system. The optimal control problem is then solved via a direct method, discretized using finite-elements with switch detection. An extension to this approach is provided in the form of a friction formulation commonly used in quasi-static models. We show that this approach is able to generate trajectories for problems including multiple pus"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.11946","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/2501.11946/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":"2026-07-05T10:03:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xR9iTq4NAj5FgCtwGe3i9fQ5KVDPFvdxMVUu2/BtFHEcJZD3VO+FkUfwWNCYuiEb/R6LYTk5tt07jjfXPS3GDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T23:48:25.411489Z"},"content_sha256":"884269931d1996a9cd7878ad67bed0c9f0ba8ec7999a2a8ac2911c88d87e91eb","schema_version":"1.0","event_id":"sha256:884269931d1996a9cd7878ad67bed0c9f0ba8ec7999a2a8ac2911c88d87e91eb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/bundle.json","state_url":"https://pith.science/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/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":"2026-08-10T23:48:25Z","links":{"resolver":"https://pith.science/pith/D7TL5O3TWDODCJ5FK2VEB37UQY","bundle":"https://pith.science/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/bundle.json","state":"https://pith.science/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D7TL5O3TWDODCJ5FK2VEB37UQY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:D7TL5O3TWDODCJ5FK2VEB37UQY","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":"2895a1a6448fdfc6dde940598207899e9686399b4dcead523100ad61d23d3cac","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-01-21T07:42:18Z","title_canon_sha256":"361f645b51c592eeaaa5f2b8fc14ce4be7edceae976d7a8c5678cc006603adf4"},"schema_version":"1.0","source":{"id":"2501.11946","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.11946","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"arxiv_version","alias_value":"2501.11946v1","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.11946","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_12","alias_value":"D7TL5O3TWDOD","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_16","alias_value":"D7TL5O3TWDODCJ5F","created_at":"2026-07-05T10:03:16Z"},{"alias_kind":"pith_short_8","alias_value":"D7TL5O3T","created_at":"2026-07-05T10:03:16Z"}],"graph_snapshots":[{"event_id":"sha256:884269931d1996a9cd7878ad67bed0c9f0ba8ec7999a2a8ac2911c88d87e91eb","target":"graph","created_at":"2026-07-05T10:03:16Z","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/2501.11946/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent gradient complementarity system. The optimal control problem is then solved via a direct method, discretized using finite-elements with switch detection. An extension to this approach is provided in the form of a friction formulation commonly used in quasi-static models. We show that this approach is able to generate trajectories for problems including multiple pus","authors_text":"Anton Pozharskiy, Armin Nurkanovi\\'c, Moritz Diehl","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-01-21T07:42:18Z","title":"Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.11946","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:f36bad4b4f5cd9ef63b45c5b86b65d68fb7ddff05fa994490cb526427904f467","target":"record","created_at":"2026-07-05T10:03:16Z","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":"2895a1a6448fdfc6dde940598207899e9686399b4dcead523100ad61d23d3cac","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-01-21T07:42:18Z","title_canon_sha256":"361f645b51c592eeaaa5f2b8fc14ce4be7edceae976d7a8c5678cc006603adf4"},"schema_version":"1.0","source":{"id":"2501.11946","kind":"arxiv","version":1}},"canonical_sha256":"1fe6bebb73b0dc3127a556aa40eff48610835fb28f6090da6dc2a3555bf275b4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1fe6bebb73b0dc3127a556aa40eff48610835fb28f6090da6dc2a3555bf275b4","first_computed_at":"2026-07-05T10:03:16.420903Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:03:16.420903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NU3OnUUxMWKa0ctl/sxT52MD/gVvGVCQ2gaX9gEcE9m+fNeaFR2ENi1+WadXX/vd8OEO1ODXQZy4m5wG0REaBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:03:16.421420Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.11946","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f36bad4b4f5cd9ef63b45c5b86b65d68fb7ddff05fa994490cb526427904f467","sha256:884269931d1996a9cd7878ad67bed0c9f0ba8ec7999a2a8ac2911c88d87e91eb"],"state_sha256":"2b13590337bafb3ad7a9073f36ee17075ee9aeb1d8a2ea6ffd7e6b76825cc6ba"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v+Rn4NSzZnF1km8MHMTsAU8x3C7ZYWY1C3Z7PdsqhP6P20Pj8S0+2BEVAp0COg8HsEIhWYroPUI/JeQ8pD2EDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T23:48:25.422889Z","bundle_sha256":"5be9bf7c93afedbca98b3f1e3bf9abdbb5c8b3de5234c7e0227f6ab0ac9518f5"}}