{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:FWWGFJJCI7SPP46RDJ3F2KFXCG","short_pith_number":"pith:FWWGFJJC","canonical_record":{"source":{"id":"2410.23283","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T17:58:26Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"cd896f55bf913b413a0cc2315946738c7b8b7215332c57cc438a991ba63ab967","abstract_canon_sha256":"57d933fe9d5b21d62511489711e1867a112ea38d900cae18ffef754377024e36"},"schema_version":"1.0"},"canonical_sha256":"2dac62a52247e4f7f3d11a765d28b711a777ae304320af454ef566abe325d9f4","source":{"kind":"arxiv","id":"2410.23283","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.23283","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"arxiv_version","alias_value":"2410.23283v1","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.23283","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_12","alias_value":"FWWGFJJCI7SP","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_16","alias_value":"FWWGFJJCI7SPP46R","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_8","alias_value":"FWWGFJJC","created_at":"2026-07-05T09:28:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:FWWGFJJCI7SPP46RDJ3F2KFXCG","target":"record","payload":{"canonical_record":{"source":{"id":"2410.23283","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T17:58:26Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"cd896f55bf913b413a0cc2315946738c7b8b7215332c57cc438a991ba63ab967","abstract_canon_sha256":"57d933fe9d5b21d62511489711e1867a112ea38d900cae18ffef754377024e36"},"schema_version":"1.0"},"canonical_sha256":"2dac62a52247e4f7f3d11a765d28b711a777ae304320af454ef566abe325d9f4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:28:43.241105Z","signature_b64":"984E3pGhA/2U6AcM73xRL+b4mzsvOtzErqUpLKdtbORm24DIQY6BNxB/h+sfkAOyz6uQIr1MW1Zum4HxZXo1DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2dac62a52247e4f7f3d11a765d28b711a777ae304320af454ef566abe325d9f4","last_reissued_at":"2026-07-05T09:28:43.240757Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:28:43.240757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.23283","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":"2026-07-05T09:28:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f9tX/XlAcqhO0wRw9d2itLMxakfCTQYbNTvz4eTPKibqQhY0nH95kljGZ11n6Z7T3CHTn4LoNt838w+DczNiAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T09:07:46.183962Z"},"content_sha256":"ea138a5fa44aa5a9d05b9bb4cdfee9c89c98c4ce653aad94768a9067fb7200e2","schema_version":"1.0","event_id":"sha256:ea138a5fa44aa5a9d05b9bb4cdfee9c89c98c4ce653aad94768a9067fb7200e2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:FWWGFJJCI7SPP46RDJ3F2KFXCG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Elliot W. Hawkes, Mac Schwager, Matthew Devlin, Ola Shorinwa","submitted_at":"2024-10-30T17:58:26Z","abstract_excerpt":"We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to their environment to accomplish tasks such as collaborative manipulation, robot team sports, and modular robot locomotion. We build our algorithm on a variant of the Alternating Direction Method of Multipliers (ADMM), where each robot computes its own contact forces and contact-switching events from a smaller single-robot, contact-implicit trajectory optimi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.23283","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/2410.23283/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":"2026-07-05T09:28:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9s7cJvcPdIXwrxj0igwrn+2gTr6nVpSLMTDh2CrPZ0ELKNIqlMg3bn9hOzb4ZUrrngcwIyhSQdIQe2nUqnuLAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T09:07:46.184359Z"},"content_sha256":"de5c9e5962e7325a900a1eb8e53fcdba85b8e355bde6718a134ea6ea99bd386f","schema_version":"1.0","event_id":"sha256:de5c9e5962e7325a900a1eb8e53fcdba85b8e355bde6718a134ea6ea99bd386f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/bundle.json","state_url":"https://pith.science/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/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":"2026-07-10T09:07:46Z","links":{"resolver":"https://pith.science/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG","bundle":"https://pith.science/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/bundle.json","state":"https://pith.science/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FWWGFJJCI7SPP46RDJ3F2KFXCG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:FWWGFJJCI7SPP46RDJ3F2KFXCG","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":"57d933fe9d5b21d62511489711e1867a112ea38d900cae18ffef754377024e36","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T17:58:26Z","title_canon_sha256":"cd896f55bf913b413a0cc2315946738c7b8b7215332c57cc438a991ba63ab967"},"schema_version":"1.0","source":{"id":"2410.23283","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.23283","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"arxiv_version","alias_value":"2410.23283v1","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.23283","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_12","alias_value":"FWWGFJJCI7SP","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_16","alias_value":"FWWGFJJCI7SPP46R","created_at":"2026-07-05T09:28:43Z"},{"alias_kind":"pith_short_8","alias_value":"FWWGFJJC","created_at":"2026-07-05T09:28:43Z"}],"graph_snapshots":[{"event_id":"sha256:de5c9e5962e7325a900a1eb8e53fcdba85b8e355bde6718a134ea6ea99bd386f","target":"graph","created_at":"2026-07-05T09:28:43Z","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/2410.23283/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to their environment to accomplish tasks such as collaborative manipulation, robot team sports, and modular robot locomotion. We build our algorithm on a variant of the Alternating Direction Method of Multipliers (ADMM), where each robot computes its own contact forces and contact-switching events from a smaller single-robot, contact-implicit trajectory optimi","authors_text":"Elliot W. Hawkes, Mac Schwager, Matthew Devlin, Ola Shorinwa","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T17:58:26Z","title":"DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.23283","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:ea138a5fa44aa5a9d05b9bb4cdfee9c89c98c4ce653aad94768a9067fb7200e2","target":"record","created_at":"2026-07-05T09:28:43Z","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":"57d933fe9d5b21d62511489711e1867a112ea38d900cae18ffef754377024e36","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T17:58:26Z","title_canon_sha256":"cd896f55bf913b413a0cc2315946738c7b8b7215332c57cc438a991ba63ab967"},"schema_version":"1.0","source":{"id":"2410.23283","kind":"arxiv","version":1}},"canonical_sha256":"2dac62a52247e4f7f3d11a765d28b711a777ae304320af454ef566abe325d9f4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2dac62a52247e4f7f3d11a765d28b711a777ae304320af454ef566abe325d9f4","first_computed_at":"2026-07-05T09:28:43.240757Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:28:43.240757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"984E3pGhA/2U6AcM73xRL+b4mzsvOtzErqUpLKdtbORm24DIQY6BNxB/h+sfkAOyz6uQIr1MW1Zum4HxZXo1DA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:28:43.241105Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.23283","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea138a5fa44aa5a9d05b9bb4cdfee9c89c98c4ce653aad94768a9067fb7200e2","sha256:de5c9e5962e7325a900a1eb8e53fcdba85b8e355bde6718a134ea6ea99bd386f"],"state_sha256":"9f8f86ed9658b80f5d9403e98058b957c16f03dbf31df1091d2816cd3abacf64"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XYJN0qHj99jf3t/zupp3aBZIuf+RFK3Ku/hAZ7Oja4sp6NxCxhVYcbIdeVdhV1w9jmmv3A2y9TiF38nnIHxrDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-10T09:07:46.186450Z","bundle_sha256":"48d88bebf557d3e5666ad937fc0812a7c04633e5972bad834a9f8f4910d88039"}}