{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:ITUKOHGQ5ZISUOCA64CF23PLDA","short_pith_number":"pith:ITUKOHGQ","schema_version":"1.0","canonical_sha256":"44e8a71cd0ee512a3840f7045d6deb180b7c4f862b67835b4f586e8228fd2150","source":{"kind":"arxiv","id":"2606.09610","version":1},"attestation_state":"computed","paper":{"title":"Shape Formation for the Cooperative Transportation of Arbitrary Objects Using Multi-Agent Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Mohamed Sayed, Tanja Katharina Kaiser, Wolfram Burgard","submitted_at":"2026-06-08T15:18:14Z","abstract_excerpt":"Cooperative object transportation is essential in numerous domains, including industrial to domestic services. A popular transportation strategy is to carry objects on top of multi-robot systems. The corresponding task is typically solved by decomposing it into three interconnected subproblems: formation control, cooperative navigation, and collision avoidance. A particular challenge posed by real-world objects is their potentially arbitrary shape and non-uniform mass distribution, necessitating robot formations that securely support the object. In this work, we address the challenge of patter"},"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":"2606.09610","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T15:18:14Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"d7c4bdd51505bdb2709bac078e18f386c484d9517346a94d0346c966523b6a20","abstract_canon_sha256":"d5e6e3e9192917ea9fb5982060bf2b777ffe17d7fb7f32791c3a25c17ef57cdd"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:08:58.715648Z","signature_b64":"b1dlLzB+OAKoVVwudJCfVWNVpxuipZdvEaMNPWdZC8/PKQcpFMAJMD9/czhBzdkQr5YhIxEEhBhP2C032TgvCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"44e8a71cd0ee512a3840f7045d6deb180b7c4f862b67835b4f586e8228fd2150","last_reissued_at":"2026-06-09T02:08:58.714796Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:08:58.714796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Shape Formation for the Cooperative Transportation of Arbitrary Objects Using Multi-Agent Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Mohamed Sayed, Tanja Katharina Kaiser, Wolfram Burgard","submitted_at":"2026-06-08T15:18:14Z","abstract_excerpt":"Cooperative object transportation is essential in numerous domains, including industrial to domestic services. A popular transportation strategy is to carry objects on top of multi-robot systems. The corresponding task is typically solved by decomposing it into three interconnected subproblems: formation control, cooperative navigation, and collision avoidance. A particular challenge posed by real-world objects is their potentially arbitrary shape and non-uniform mass distribution, necessitating robot formations that securely support the object. In this work, we address the challenge of patter"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09610","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/2606.09610/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":"2606.09610","created_at":"2026-06-09T02:08:58.714929+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.09610v1","created_at":"2026-06-09T02:08:58.714929+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09610","created_at":"2026-06-09T02:08:58.714929+00:00"},{"alias_kind":"pith_short_12","alias_value":"ITUKOHGQ5ZIS","created_at":"2026-06-09T02:08:58.714929+00:00"},{"alias_kind":"pith_short_16","alias_value":"ITUKOHGQ5ZISUOCA","created_at":"2026-06-09T02:08:58.714929+00:00"},{"alias_kind":"pith_short_8","alias_value":"ITUKOHGQ","created_at":"2026-06-09T02:08:58.714929+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/ITUKOHGQ5ZISUOCA64CF23PLDA","json":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA.json","graph_json":"https://pith.science/api/pith-number/ITUKOHGQ5ZISUOCA64CF23PLDA/graph.json","events_json":"https://pith.science/api/pith-number/ITUKOHGQ5ZISUOCA64CF23PLDA/events.json","paper":"https://pith.science/paper/ITUKOHGQ"},"agent_actions":{"view_html":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA","download_json":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA.json","view_paper":"https://pith.science/paper/ITUKOHGQ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.09610&json=true","fetch_graph":"https://pith.science/api/pith-number/ITUKOHGQ5ZISUOCA64CF23PLDA/graph.json","fetch_events":"https://pith.science/api/pith-number/ITUKOHGQ5ZISUOCA64CF23PLDA/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA/action/storage_attestation","attest_author":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA/action/author_attestation","sign_citation":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA/action/citation_signature","submit_replication":"https://pith.science/pith/ITUKOHGQ5ZISUOCA64CF23PLDA/action/replication_record"}},"created_at":"2026-06-09T02:08:58.714929+00:00","updated_at":"2026-06-09T02:08:58.714929+00:00"}