{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HIK7XGGIBELHAPHLJUJIONG7VN","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":"753c8051e50f36500613ff1e74b0da457525081ec51bea8f0072d1e5f0aa305d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T05:40:59Z","title_canon_sha256":"58fe7aafb9e376273d8f16075c541bf8ca799bb5761aae39fca051969e6f95d3"},"schema_version":"1.0","source":{"id":"2605.22021","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.22021","created_at":"2026-05-22T01:04:20Z"},{"alias_kind":"arxiv_version","alias_value":"2605.22021v1","created_at":"2026-05-22T01:04:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.22021","created_at":"2026-05-22T01:04:20Z"},{"alias_kind":"pith_short_12","alias_value":"HIK7XGGIBELH","created_at":"2026-05-22T01:04:20Z"},{"alias_kind":"pith_short_16","alias_value":"HIK7XGGIBELHAPHL","created_at":"2026-05-22T01:04:20Z"},{"alias_kind":"pith_short_8","alias_value":"HIK7XGGI","created_at":"2026-05-22T01:04:20Z"}],"graph_snapshots":[{"event_id":"sha256:c18a02d4abb85284effd2651fd59f11842c642ecef021cc4fe571f7e4e61e460","target":"graph","created_at":"2026-05-22T01:04:20Z","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/2605.22021/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of contact wrenches can lead to slip, object drop, orientation deviation, or excessive squeezing. This paper presents a friction-aware dual-arm box-handling framework for objects with unknown inertial properties. The proposed approach estimates the object mass and center of mass online from measured contact wrenches, and computes friction-feasible contact forces and ","authors_text":"Domenico Campolo, Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T05:40:59Z","title":"Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.22021","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:db8a63462857ff50e207c035bfd7ffea552230e79e9acfbf0ed054e8abc5f497","target":"record","created_at":"2026-05-22T01:04:20Z","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":"753c8051e50f36500613ff1e74b0da457525081ec51bea8f0072d1e5f0aa305d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T05:40:59Z","title_canon_sha256":"58fe7aafb9e376273d8f16075c541bf8ca799bb5761aae39fca051969e6f95d3"},"schema_version":"1.0","source":{"id":"2605.22021","kind":"arxiv","version":1}},"canonical_sha256":"3a15fb98c80916703ceb4d128734dfab6963cafa055c17569946a6e3a1df77cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3a15fb98c80916703ceb4d128734dfab6963cafa055c17569946a6e3a1df77cf","first_computed_at":"2026-05-22T01:04:20.891903Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-22T01:04:20.891903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wlxL50A2RteOZ81hMH5YY+JhlqR+kVmznNBv7XBA7smxYu3ALcXafqjYoUXcb63rFqixqQWFAt8frNGLBnULBg==","signature_status":"signed_v1","signed_at":"2026-05-22T01:04:20.894361Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.22021","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:db8a63462857ff50e207c035bfd7ffea552230e79e9acfbf0ed054e8abc5f497","sha256:c18a02d4abb85284effd2651fd59f11842c642ecef021cc4fe571f7e4e61e460"],"state_sha256":"6436b328cd86e46c20329ddf2331e979c62a00c8ff159845e11a2be1318786e7"}