{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FMX763PT3MLF5PDKGF5ARRRBZZ","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":"6de2958ec2435e2f5ef0b43db12783fbd4cb9ef538c78093b77d6024d087f501","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T15:33:27Z","title_canon_sha256":"915bbe74f5ea97f6d44d22e25b0e3bb79a1585feba2a9bd2ca34c3d224f5d1ab"},"schema_version":"1.0","source":{"id":"2606.30474","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.30474","created_at":"2026-06-30T02:18:16Z"},{"alias_kind":"arxiv_version","alias_value":"2606.30474v1","created_at":"2026-06-30T02:18:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.30474","created_at":"2026-06-30T02:18:16Z"},{"alias_kind":"pith_short_12","alias_value":"FMX763PT3MLF","created_at":"2026-06-30T02:18:16Z"},{"alias_kind":"pith_short_16","alias_value":"FMX763PT3MLF5PDK","created_at":"2026-06-30T02:18:16Z"},{"alias_kind":"pith_short_8","alias_value":"FMX763PT","created_at":"2026-06-30T02:18:16Z"}],"graph_snapshots":[{"event_id":"sha256:8304037929ece67b7b78c885ab98c815a42713a80ed2c2077357bfd4f522cd97","target":"graph","created_at":"2026-06-30T02:18:16Z","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/2606.30474/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Non-prehensile manipulation is often used as a preparatory step for robotic grasping, yet existing approaches typically require a predefined target object pose. In practice, however, objects admit multiple graspable configurations and the desired pose is not known in advance. We reformulate non-prehensile manipulation for grasping as optimizing an object centric graspability objective rather than reaching a specific pose. We construct a graspable set from synthesized grasps and define a graspability field that measures how suitable an object configuration is for successful grasp execution. The","authors_text":"Gim Hee Lee, Licheng Zhong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T15:33:27Z","title":"Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.30474","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":"sha256:2d0a38d2904f8d04d183e84e8d2ac624f9d429b6e13ea0cbcbb51fd1d7f0b559","target":"record","created_at":"2026-06-30T02:18:16Z","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":"6de2958ec2435e2f5ef0b43db12783fbd4cb9ef538c78093b77d6024d087f501","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T15:33:27Z","title_canon_sha256":"915bbe74f5ea97f6d44d22e25b0e3bb79a1585feba2a9bd2ca34c3d224f5d1ab"},"schema_version":"1.0","source":{"id":"2606.30474","kind":"arxiv","version":1}},"canonical_sha256":"2b2fff6df3db165ebc6a317a08c621ce4dc528947b1bf4323897003c7e05ddac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2b2fff6df3db165ebc6a317a08c621ce4dc528947b1bf4323897003c7e05ddac","first_computed_at":"2026-06-30T02:18:16.867843Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-30T02:18:16.867843Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2rTIMw3rGUWXQLWHdAhHpPSy8ZkXFxAfPWgiQOMPeGY0XU2gayVwF7OfrUpmlLZlschiYs3zCmWiUst6bhbJDQ==","signature_status":"signed_v1","signed_at":"2026-06-30T02:18:16.868521Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.30474","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d0a38d2904f8d04d183e84e8d2ac624f9d429b6e13ea0cbcbb51fd1d7f0b559","sha256:8304037929ece67b7b78c885ab98c815a42713a80ed2c2077357bfd4f522cd97"],"state_sha256":"2907011ed5ce52c9ab80e9cf0c8eccd6b83d183238a28b50ab48df045bddf176"}