{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:KA2O7TOYBWM6INY4WRCZ55Q6S7","short_pith_number":"pith:KA2O7TOY","canonical_record":{"source":{"id":"2010.11078","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-21T15:38:30Z","cross_cats_sorted":[],"title_canon_sha256":"dd0f0f241f72d3fe5edcf3cf3e6fbe9ae84f7f5e4af72f561ea91863d40858b3","abstract_canon_sha256":"a26cc09ddf9a2671cb94cbc67cedb98a8bfdcc6c701119634ac69cf885a1a8dd"},"schema_version":"1.0"},"canonical_sha256":"5034efcdd80d99e4371cb4459ef61e97ed131606391343cbc2a7054c46f68416","source":{"kind":"arxiv","id":"2010.11078","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.11078","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"arxiv_version","alias_value":"2010.11078v2","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.11078","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_12","alias_value":"KA2O7TOYBWM6","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_16","alias_value":"KA2O7TOYBWM6INY4","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_8","alias_value":"KA2O7TOY","created_at":"2026-07-05T01:45:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:KA2O7TOYBWM6INY4WRCZ55Q6S7","target":"record","payload":{"canonical_record":{"source":{"id":"2010.11078","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-21T15:38:30Z","cross_cats_sorted":[],"title_canon_sha256":"dd0f0f241f72d3fe5edcf3cf3e6fbe9ae84f7f5e4af72f561ea91863d40858b3","abstract_canon_sha256":"a26cc09ddf9a2671cb94cbc67cedb98a8bfdcc6c701119634ac69cf885a1a8dd"},"schema_version":"1.0"},"canonical_sha256":"5034efcdd80d99e4371cb4459ef61e97ed131606391343cbc2a7054c46f68416","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:45:45.875269Z","signature_b64":"kpnEq5qe9fHkDT7BCBBa/eIllbyiubgH0zcSGJJ/+S+i2vQA2Y2e95gRuoVknuEJCTXklXQ7Elm7AOthL8l7Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5034efcdd80d99e4371cb4459ef61e97ed131606391343cbc2a7054c46f68416","last_reissued_at":"2026-07-05T01:45:45.874912Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:45:45.874912Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2010.11078","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:45:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ylneynX6Fm24jF5BmXFURaEGvBU/Id/f59gBMyXVOlw8mfSAp1L9iWAnG9Wot8R8auVXOqXp7pEN1Z50HgxfCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:05:54.795488Z"},"content_sha256":"255960cb52811daa15683513a3f1de1cf124f8d60c37006fec34d45ade05ab13","schema_version":"1.0","event_id":"sha256:255960cb52811daa15683513a3f1de1cf124f8d60c37006fec34d45ade05ab13"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:KA2O7TOYBWM6INY4WRCZ55Q6S7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Michael Park, Ye Zhao, Zhigen Zhao, Ziyi Zhou","submitted_at":"2020-10-21T15:38:30Z","abstract_excerpt":"This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in dynamically changing environments. At the symbolic planning level, we propose a scalable decision-making method for long-horizon manipulation tasks using the Planning Domain Definition Language (PDDL) with causal graph decomposition. At the motion planning level, we devise a trajectory optimization (TO) approach based on the Alternating Direction Method of Mult"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.11078","kind":"arxiv","version":2},"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/2010.11078/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":"2026-07-05T01:45:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4Y65adGve5xpeI0VM7IBaqoKsZVTws5rBn7SANh5wc6lAF1DY5qAdiAaLEgRI7U5PZq5/8T5zp5lUcRSV6YfDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:05:54.795890Z"},"content_sha256":"51c3b222859026234fca281bebb29d4384420de9fbf9311a980e2b9a6c7b687e","schema_version":"1.0","event_id":"sha256:51c3b222859026234fca281bebb29d4384420de9fbf9311a980e2b9a6c7b687e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/bundle.json","state_url":"https://pith.science/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/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":"2026-07-07T05:05:54Z","links":{"resolver":"https://pith.science/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7","bundle":"https://pith.science/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/bundle.json","state":"https://pith.science/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KA2O7TOYBWM6INY4WRCZ55Q6S7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:KA2O7TOYBWM6INY4WRCZ55Q6S7","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":"a26cc09ddf9a2671cb94cbc67cedb98a8bfdcc6c701119634ac69cf885a1a8dd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-21T15:38:30Z","title_canon_sha256":"dd0f0f241f72d3fe5edcf3cf3e6fbe9ae84f7f5e4af72f561ea91863d40858b3"},"schema_version":"1.0","source":{"id":"2010.11078","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.11078","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"arxiv_version","alias_value":"2010.11078v2","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.11078","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_12","alias_value":"KA2O7TOYBWM6","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_16","alias_value":"KA2O7TOYBWM6INY4","created_at":"2026-07-05T01:45:45Z"},{"alias_kind":"pith_short_8","alias_value":"KA2O7TOY","created_at":"2026-07-05T01:45:45Z"}],"graph_snapshots":[{"event_id":"sha256:51c3b222859026234fca281bebb29d4384420de9fbf9311a980e2b9a6c7b687e","target":"graph","created_at":"2026-07-05T01:45:45Z","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/2010.11078/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in dynamically changing environments. At the symbolic planning level, we propose a scalable decision-making method for long-horizon manipulation tasks using the Planning Domain Definition Language (PDDL) with causal graph decomposition. At the motion planning level, we devise a trajectory optimization (TO) approach based on the Alternating Direction Method of Mult","authors_text":"Michael Park, Ye Zhao, Zhigen Zhao, Ziyi Zhou","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-21T15:38:30Z","title":"SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.11078","kind":"arxiv","version":2},"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":"sha256:255960cb52811daa15683513a3f1de1cf124f8d60c37006fec34d45ade05ab13","target":"record","created_at":"2026-07-05T01:45:45Z","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":"a26cc09ddf9a2671cb94cbc67cedb98a8bfdcc6c701119634ac69cf885a1a8dd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-21T15:38:30Z","title_canon_sha256":"dd0f0f241f72d3fe5edcf3cf3e6fbe9ae84f7f5e4af72f561ea91863d40858b3"},"schema_version":"1.0","source":{"id":"2010.11078","kind":"arxiv","version":2}},"canonical_sha256":"5034efcdd80d99e4371cb4459ef61e97ed131606391343cbc2a7054c46f68416","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5034efcdd80d99e4371cb4459ef61e97ed131606391343cbc2a7054c46f68416","first_computed_at":"2026-07-05T01:45:45.874912Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:45:45.874912Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kpnEq5qe9fHkDT7BCBBa/eIllbyiubgH0zcSGJJ/+S+i2vQA2Y2e95gRuoVknuEJCTXklXQ7Elm7AOthL8l7Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:45:45.875269Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.11078","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:255960cb52811daa15683513a3f1de1cf124f8d60c37006fec34d45ade05ab13","sha256:51c3b222859026234fca281bebb29d4384420de9fbf9311a980e2b9a6c7b687e"],"state_sha256":"5b7946a2817b7a74f01c461ea2d796a33f491788d569ab03db867a1b1c4fdd6a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ikAYNN9u4OSVg3TMHBNh0aZDIIy65QUw5iCbACL0R1YEwXzeKtE0Qpu+ZXVi45R4r9x6MFZhNqyT7t952Iu3Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:05:54.798465Z","bundle_sha256":"4442ac76cf307f8734eefea515430cddc0d29b9ba7f351a9a6f54ce7cdea7893"}}