{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:F54HX4SQ2VDCKI5DEQRO4ICCWJ","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":"82f00886f4a91d4d63a21e17c963ab538da8e6d3cd12e6b2fbd7fd674c6bd54f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-25T10:24:05Z","title_canon_sha256":"0b1b1cd75cb07cd297e12987f34d4544457c863f0a6edd08c3944f7a5bb623c4"},"schema_version":"1.0","source":{"id":"2605.25672","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.25672","created_at":"2026-05-26T02:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"2605.25672v1","created_at":"2026-05-26T02:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.25672","created_at":"2026-05-26T02:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"F54HX4SQ2VDC","created_at":"2026-05-26T02:04:49Z"},{"alias_kind":"pith_short_16","alias_value":"F54HX4SQ2VDCKI5D","created_at":"2026-05-26T02:04:49Z"},{"alias_kind":"pith_short_8","alias_value":"F54HX4SQ","created_at":"2026-05-26T02:04:49Z"}],"graph_snapshots":[{"event_id":"sha256:0de11a44708f5f05fb57346d5e998473b10806836f98301280624595a064ab94","target":"graph","created_at":"2026-05-26T02:04:49Z","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/2605.25672/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical interactions and exhibit passive behavior. To achieve this, we extend a state-of-the-art pushing model to integrate it with impedance-controlled robots. We develop a model predictive control framework built upon this model that enables compliant pushing through optimal modulation of the robot's position/velocity set-point, jointly realizing the required pushing f","authors_text":"Fabio Amadio, Fabio Ruggiero, Francesco Cufino, Mario Selvaggio","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-25T10:24:05Z","title":"Compliant Non-Prehensile Pushing Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.25672","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:b97279271fffb9c8bcf118c4a91a7061a4e0907276efbe7c400f6de1fba775cb","target":"record","created_at":"2026-05-26T02:04:49Z","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":"82f00886f4a91d4d63a21e17c963ab538da8e6d3cd12e6b2fbd7fd674c6bd54f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-25T10:24:05Z","title_canon_sha256":"0b1b1cd75cb07cd297e12987f34d4544457c863f0a6edd08c3944f7a5bb623c4"},"schema_version":"1.0","source":{"id":"2605.25672","kind":"arxiv","version":1}},"canonical_sha256":"2f787bf250d5462523a32422ee2042b24b21f43286494e74eaeb838be2e3edda","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2f787bf250d5462523a32422ee2042b24b21f43286494e74eaeb838be2e3edda","first_computed_at":"2026-05-26T02:04:49.441012Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T02:04:49.441012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Quqf0NgemazoJkh8fvotV1lOwyA52o9oumK3rt/uncrow1QzmIi5YMp5mw8/sdtuAlsD5WJvaI7MaNa5XlI2Aw==","signature_status":"signed_v1","signed_at":"2026-05-26T02:04:49.441638Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.25672","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b97279271fffb9c8bcf118c4a91a7061a4e0907276efbe7c400f6de1fba775cb","sha256:0de11a44708f5f05fb57346d5e998473b10806836f98301280624595a064ab94"],"state_sha256":"63cb4dd64a8acfea3dd86764d74322465fa65816003285b1acd78246803deff0"}