{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:FYQJKWNZAT3RY4IVYZKVCX2PLO","short_pith_number":"pith:FYQJKWNZ","schema_version":"1.0","canonical_sha256":"2e209559b904f71c7115c655515f4f5bb7b286451e7129a921956a40c1e4d47e","source":{"kind":"arxiv","id":"2501.11149","version":1},"attestation_state":"computed","paper":{"title":"CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christina Ge, Jose Barreiros, Joyce Yang, Kate Tsui, Ruolin Ye, Shuaixing Chen, Tapomayukh Bhattacharjee, Tom Silver, Yunting Yan","submitted_at":"2025-01-19T19:14:05Z","abstract_excerpt":"Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm that leverages the presence of other assistive devices: a Hoyer sling and a wheelchair for coarse manipulation of heavy loads, alongside a robot arm for fine-grained manipulation of deformable objects (Hoyer sling straps). We instrument the Hoyer sling and wheelchair with actuators and sensors so that they can become intelligent agents in the algorithm. We then focus on one subtask of the transferring ADL -- tying Ho"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2501.11149","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-19T19:14:05Z","cross_cats_sorted":[],"title_canon_sha256":"b75f5e4ea8e4264eac3cc84b6b4052add5075cf695b7f90aab8a96a57add7f12","abstract_canon_sha256":"22e6281a54d946f20ba4d8c3daf19333e82d7f167b9fa7696add98c77e9a2416"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:03:04.131469Z","signature_b64":"wpAa3OcJgAiE4OjcMAJn5p2FT9v/XRQyMGNCMdY8rXeOZglzRHlT4elSP9cGFlfn7wlqwLAqKgvsCx7SZ1isDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2e209559b904f71c7115c655515f4f5bb7b286451e7129a921956a40c1e4d47e","last_reissued_at":"2026-07-05T10:03:04.130991Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:03:04.130991Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christina Ge, Jose Barreiros, Joyce Yang, Kate Tsui, Ruolin Ye, Shuaixing Chen, Tapomayukh Bhattacharjee, Tom Silver, Yunting Yan","submitted_at":"2025-01-19T19:14:05Z","abstract_excerpt":"Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm that leverages the presence of other assistive devices: a Hoyer sling and a wheelchair for coarse manipulation of heavy loads, alongside a robot arm for fine-grained manipulation of deformable objects (Hoyer sling straps). We instrument the Hoyer sling and wheelchair with actuators and sensors so that they can become intelligent agents in the algorithm. We then focus on one subtask of the transferring ADL -- tying Ho"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.11149","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/2501.11149/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2501.11149","created_at":"2026-07-05T10:03:04.131056+00:00"},{"alias_kind":"arxiv_version","alias_value":"2501.11149v1","created_at":"2026-07-05T10:03:04.131056+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.11149","created_at":"2026-07-05T10:03:04.131056+00:00"},{"alias_kind":"pith_short_12","alias_value":"FYQJKWNZAT3R","created_at":"2026-07-05T10:03:04.131056+00:00"},{"alias_kind":"pith_short_16","alias_value":"FYQJKWNZAT3RY4IV","created_at":"2026-07-05T10:03:04.131056+00:00"},{"alias_kind":"pith_short_8","alias_value":"FYQJKWNZ","created_at":"2026-07-05T10:03:04.131056+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO","json":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO.json","graph_json":"https://pith.science/api/pith-number/FYQJKWNZAT3RY4IVYZKVCX2PLO/graph.json","events_json":"https://pith.science/api/pith-number/FYQJKWNZAT3RY4IVYZKVCX2PLO/events.json","paper":"https://pith.science/paper/FYQJKWNZ"},"agent_actions":{"view_html":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO","download_json":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO.json","view_paper":"https://pith.science/paper/FYQJKWNZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2501.11149&json=true","fetch_graph":"https://pith.science/api/pith-number/FYQJKWNZAT3RY4IVYZKVCX2PLO/graph.json","fetch_events":"https://pith.science/api/pith-number/FYQJKWNZAT3RY4IVYZKVCX2PLO/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO/action/timestamp_anchor","attest_storage":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO/action/storage_attestation","attest_author":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO/action/author_attestation","sign_citation":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO/action/citation_signature","submit_replication":"https://pith.science/pith/FYQJKWNZAT3RY4IVYZKVCX2PLO/action/replication_record"}},"created_at":"2026-07-05T10:03:04.131056+00:00","updated_at":"2026-07-05T10:03:04.131056+00:00"}