{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:HH3DMSENAI2CCYE77HXOZCS4W4","short_pith_number":"pith:HH3DMSEN","canonical_record":{"source":{"id":"2409.16957","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T14:13:00Z","cross_cats_sorted":[],"title_canon_sha256":"6aa29b672dc4d33ef442b44f48c995089dd8cb75ab8a1967c826a61266252230","abstract_canon_sha256":"5598d253115a811ab4d20e6795de7cd054cce4545008328337182dc37ac258db"},"schema_version":"1.0"},"canonical_sha256":"39f636488d023421609ff9eeec8a5cb73332a14308526876fe0ea415adaed397","source":{"kind":"arxiv","id":"2409.16957","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.16957","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"arxiv_version","alias_value":"2409.16957v3","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.16957","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_12","alias_value":"HH3DMSENAI2C","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_16","alias_value":"HH3DMSENAI2CCYE7","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_8","alias_value":"HH3DMSEN","created_at":"2026-07-05T11:06:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:HH3DMSENAI2CCYE77HXOZCS4W4","target":"record","payload":{"canonical_record":{"source":{"id":"2409.16957","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T14:13:00Z","cross_cats_sorted":[],"title_canon_sha256":"6aa29b672dc4d33ef442b44f48c995089dd8cb75ab8a1967c826a61266252230","abstract_canon_sha256":"5598d253115a811ab4d20e6795de7cd054cce4545008328337182dc37ac258db"},"schema_version":"1.0"},"canonical_sha256":"39f636488d023421609ff9eeec8a5cb73332a14308526876fe0ea415adaed397","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:06:23.691439Z","signature_b64":"eii8jwO9N9j6PS0ygfPD22o2m8UwJNSzZsWTQKXk1CdHMMUqlnCDs1/5CxMhbr7Vrw91gpXiMTq6WB6Ogeu2Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39f636488d023421609ff9eeec8a5cb73332a14308526876fe0ea415adaed397","last_reissued_at":"2026-07-05T11:06:23.690900Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:06:23.690900Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.16957","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:06:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AhuvlvGecxVAtlnKp3hcId3VJvs70sQAzNFqTaEfr90PcXJne3aP5SJD49iHdvgNrvHqf3QR6NfDxqRwMnITAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T22:46:38.894363Z"},"content_sha256":"7845de18e896d1970b892ddf61a329035de782223a48d61a737a7e1b2f8e887e","schema_version":"1.0","event_id":"sha256:7845de18e896d1970b892ddf61a329035de782223a48d61a737a7e1b2f8e887e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:HH3DMSENAI2CCYE77HXOZCS4W4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DualLQR: Efficient Grasping of Oscillating Apples using Task Parameterized Learning from Demonstration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ard Nieuwenhuizen, Eldert J. van Henten, Gert Kootstra, Robert van de Ven","submitted_at":"2024-09-25T14:13:00Z","abstract_excerpt":"Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping oscillating targets has two requirements: 1) close tracking of the target during the final approach for damage-free grasping, and 2) the complete path should be as short as possible for improved efficiency. We propose a new method called DualLQR. In this method, we use a finite horizon Linear Quadratic Regulator (LQR) on a moving target, without the need of refitting"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.16957","kind":"arxiv","version":3},"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/2409.16957/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":"2026-07-05T11:06:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LTvCF/ekBliK+uxxnhWrbICliwn68YvuaOQtWNdwiU1QjaYmgW5RQRZUJS3DxSP30sMypLYeslXUm9iRB292Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T22:46:38.894738Z"},"content_sha256":"e60da44639c6ec2ee38f00ac0d996e809f9a29fdcb21f4fb6f17c854a5141748","schema_version":"1.0","event_id":"sha256:e60da44639c6ec2ee38f00ac0d996e809f9a29fdcb21f4fb6f17c854a5141748"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HH3DMSENAI2CCYE77HXOZCS4W4/bundle.json","state_url":"https://pith.science/pith/HH3DMSENAI2CCYE77HXOZCS4W4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HH3DMSENAI2CCYE77HXOZCS4W4/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":"2026-07-14T22:46:38Z","links":{"resolver":"https://pith.science/pith/HH3DMSENAI2CCYE77HXOZCS4W4","bundle":"https://pith.science/pith/HH3DMSENAI2CCYE77HXOZCS4W4/bundle.json","state":"https://pith.science/pith/HH3DMSENAI2CCYE77HXOZCS4W4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HH3DMSENAI2CCYE77HXOZCS4W4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:HH3DMSENAI2CCYE77HXOZCS4W4","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":"5598d253115a811ab4d20e6795de7cd054cce4545008328337182dc37ac258db","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T14:13:00Z","title_canon_sha256":"6aa29b672dc4d33ef442b44f48c995089dd8cb75ab8a1967c826a61266252230"},"schema_version":"1.0","source":{"id":"2409.16957","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.16957","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"arxiv_version","alias_value":"2409.16957v3","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.16957","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_12","alias_value":"HH3DMSENAI2C","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_16","alias_value":"HH3DMSENAI2CCYE7","created_at":"2026-07-05T11:06:23Z"},{"alias_kind":"pith_short_8","alias_value":"HH3DMSEN","created_at":"2026-07-05T11:06:23Z"}],"graph_snapshots":[{"event_id":"sha256:e60da44639c6ec2ee38f00ac0d996e809f9a29fdcb21f4fb6f17c854a5141748","target":"graph","created_at":"2026-07-05T11:06:23Z","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/2409.16957/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping oscillating targets has two requirements: 1) close tracking of the target during the final approach for damage-free grasping, and 2) the complete path should be as short as possible for improved efficiency. We propose a new method called DualLQR. In this method, we use a finite horizon Linear Quadratic Regulator (LQR) on a moving target, without the need of refitting","authors_text":"Ard Nieuwenhuizen, Eldert J. van Henten, Gert Kootstra, Robert van de Ven","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T14:13:00Z","title":"DualLQR: Efficient Grasping of Oscillating Apples using Task Parameterized Learning from Demonstration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.16957","kind":"arxiv","version":3},"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":"sha256:7845de18e896d1970b892ddf61a329035de782223a48d61a737a7e1b2f8e887e","target":"record","created_at":"2026-07-05T11:06:23Z","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":"5598d253115a811ab4d20e6795de7cd054cce4545008328337182dc37ac258db","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-25T14:13:00Z","title_canon_sha256":"6aa29b672dc4d33ef442b44f48c995089dd8cb75ab8a1967c826a61266252230"},"schema_version":"1.0","source":{"id":"2409.16957","kind":"arxiv","version":3}},"canonical_sha256":"39f636488d023421609ff9eeec8a5cb73332a14308526876fe0ea415adaed397","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39f636488d023421609ff9eeec8a5cb73332a14308526876fe0ea415adaed397","first_computed_at":"2026-07-05T11:06:23.690900Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:06:23.690900Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eii8jwO9N9j6PS0ygfPD22o2m8UwJNSzZsWTQKXk1CdHMMUqlnCDs1/5CxMhbr7Vrw91gpXiMTq6WB6Ogeu2Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:06:23.691439Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.16957","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7845de18e896d1970b892ddf61a329035de782223a48d61a737a7e1b2f8e887e","sha256:e60da44639c6ec2ee38f00ac0d996e809f9a29fdcb21f4fb6f17c854a5141748"],"state_sha256":"dcf8621c26f2878802f9ae443febeb65db4e0c0533958d2a9270e15bad9c7eb1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8c1kI/J140LOTMpQdHbUEL0y/uqxJ56hye8mSii+uKDllMc6jOGTBAMnkH/cz7N5iPJUFUdQ1z+oG2Wk0hDcCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-14T22:46:38.897218Z","bundle_sha256":"390db1a97c2d056e3dc2608a9de6b81974cd27b5400546c316c61bc964eda020"}}