{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:IU2PTAIXP37RTPCFDCYMP7AXQY","short_pith_number":"pith:IU2PTAIX","canonical_record":{"source":{"id":"2410.22910","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T11:06:43Z","cross_cats_sorted":[],"title_canon_sha256":"365532045e59cd2f8acb612bf39a37bb78d196106af54815c85b5549d371c2f0","abstract_canon_sha256":"f2d4b4ed926026fc25dc2843cbd256b10a2c13816172ac78251cddcf7b6574c0"},"schema_version":"1.0"},"canonical_sha256":"4534f981177eff19bc4518b0c7fc178613651ee946566dde2c624f3f532f78fb","source":{"kind":"arxiv","id":"2410.22910","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.22910","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"arxiv_version","alias_value":"2410.22910v1","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.22910","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_12","alias_value":"IU2PTAIXP37R","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"IU2PTAIXP37RTPCF","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"IU2PTAIX","created_at":"2026-07-05T09:28:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:IU2PTAIXP37RTPCFDCYMP7AXQY","target":"record","payload":{"canonical_record":{"source":{"id":"2410.22910","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T11:06:43Z","cross_cats_sorted":[],"title_canon_sha256":"365532045e59cd2f8acb612bf39a37bb78d196106af54815c85b5549d371c2f0","abstract_canon_sha256":"f2d4b4ed926026fc25dc2843cbd256b10a2c13816172ac78251cddcf7b6574c0"},"schema_version":"1.0"},"canonical_sha256":"4534f981177eff19bc4518b0c7fc178613651ee946566dde2c624f3f532f78fb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:28:38.029406Z","signature_b64":"+qG2jB/QlMRrLIY7CRyavogV9/OnV5DFmDGO+rYD02ssgZi10hnx+X2yQBDNFWNuLbB4QbuT2EgAgSFslu3ZDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4534f981177eff19bc4518b0c7fc178613651ee946566dde2c624f3f532f78fb","last_reissued_at":"2026-07-05T09:28:38.028958Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:28:38.028958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.22910","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":"2026-07-05T09:28:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WiFHasDee/cS/b2eAeaMiyG5/gU+5xJSCiAeBSlDOJIEvuht1+od/hg6Wd7/yj1X2tgTTgirop3meGDiSUv2Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T13:19:08.185993Z"},"content_sha256":"1972de7cf79abe869a94564cef90aa4db995ec58e13f0c22db41b4bc03a9025f","schema_version":"1.0","event_id":"sha256:1972de7cf79abe869a94564cef90aa4db995ec58e13f0c22db41b4bc03a9025f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:IU2PTAIXP37RTPCFDCYMP7AXQY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiayi Wang, Jo\\~ao Moura, Ran Long, Saeid Samadi, Sethu Vijayakumar, Wenqian Du","submitted_at":"2024-10-30T11:06:43Z","abstract_excerpt":"Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while meeting various hard constraints for such highly redundant mobile manipulators poses a significant challenge. We tackle this challenge by presenting an efficient representation of whole-body motion trajectories within our bilevel model-based predictive control (MPC) framework. We utilize B\\'ezier-curve parameterization to represent the optimized collision-fr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.22910","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/2410.22910/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":"2026-07-05T09:28:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1vLyTzelFsZbtT1kELnynPxhGlYdvgpQ0suSSxkTWhW3XVghvcx9I69V6PZeeP0ynZp1ZX9UKjaser7toTjBBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T13:19:08.186382Z"},"content_sha256":"393891bd9829bbd793163edbda27d9d8050cca5b1edda8beabfe4783cd988547","schema_version":"1.0","event_id":"sha256:393891bd9829bbd793163edbda27d9d8050cca5b1edda8beabfe4783cd988547"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/bundle.json","state_url":"https://pith.science/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/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":"2026-07-06T13:19:08Z","links":{"resolver":"https://pith.science/pith/IU2PTAIXP37RTPCFDCYMP7AXQY","bundle":"https://pith.science/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/bundle.json","state":"https://pith.science/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IU2PTAIXP37RTPCFDCYMP7AXQY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IU2PTAIXP37RTPCFDCYMP7AXQY","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":"f2d4b4ed926026fc25dc2843cbd256b10a2c13816172ac78251cddcf7b6574c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T11:06:43Z","title_canon_sha256":"365532045e59cd2f8acb612bf39a37bb78d196106af54815c85b5549d371c2f0"},"schema_version":"1.0","source":{"id":"2410.22910","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.22910","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"arxiv_version","alias_value":"2410.22910v1","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.22910","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_12","alias_value":"IU2PTAIXP37R","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"IU2PTAIXP37RTPCF","created_at":"2026-07-05T09:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"IU2PTAIX","created_at":"2026-07-05T09:28:38Z"}],"graph_snapshots":[{"event_id":"sha256:393891bd9829bbd793163edbda27d9d8050cca5b1edda8beabfe4783cd988547","target":"graph","created_at":"2026-07-05T09:28:38Z","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/2410.22910/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while meeting various hard constraints for such highly redundant mobile manipulators poses a significant challenge. We tackle this challenge by presenting an efficient representation of whole-body motion trajectories within our bilevel model-based predictive control (MPC) framework. We utilize B\\'ezier-curve parameterization to represent the optimized collision-fr","authors_text":"Jiayi Wang, Jo\\~ao Moura, Ran Long, Saeid Samadi, Sethu Vijayakumar, Wenqian Du","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T11:06:43Z","title":"An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.22910","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":"sha256:1972de7cf79abe869a94564cef90aa4db995ec58e13f0c22db41b4bc03a9025f","target":"record","created_at":"2026-07-05T09:28:38Z","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":"f2d4b4ed926026fc25dc2843cbd256b10a2c13816172ac78251cddcf7b6574c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-30T11:06:43Z","title_canon_sha256":"365532045e59cd2f8acb612bf39a37bb78d196106af54815c85b5549d371c2f0"},"schema_version":"1.0","source":{"id":"2410.22910","kind":"arxiv","version":1}},"canonical_sha256":"4534f981177eff19bc4518b0c7fc178613651ee946566dde2c624f3f532f78fb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4534f981177eff19bc4518b0c7fc178613651ee946566dde2c624f3f532f78fb","first_computed_at":"2026-07-05T09:28:38.028958Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:28:38.028958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+qG2jB/QlMRrLIY7CRyavogV9/OnV5DFmDGO+rYD02ssgZi10hnx+X2yQBDNFWNuLbB4QbuT2EgAgSFslu3ZDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:28:38.029406Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.22910","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1972de7cf79abe869a94564cef90aa4db995ec58e13f0c22db41b4bc03a9025f","sha256:393891bd9829bbd793163edbda27d9d8050cca5b1edda8beabfe4783cd988547"],"state_sha256":"509b6946dce86b619193ad54a4b2d02f70cc14312432f3ed5de9c18fa93456a2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Qggm1bz5z1GK3Ww7zvebGmtARfOzJrOA/jdiKYRVTSpTuNC69mzgvHwlIdwoyN3A0tahTZbVnoR7deL6LuaNAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T13:19:08.188297Z","bundle_sha256":"7ceac2d3b772f3d1f0c7745dfe2200ad6cb1f592befe19da339c7860a895c571"}}