{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:LAIUMMPHDRZHUNF4TGDC6I4HHA","short_pith_number":"pith:LAIUMMPH","canonical_record":{"source":{"id":"2002.02715","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-07T11:07:16Z","cross_cats_sorted":[],"title_canon_sha256":"e812e7767a3bf3d3e7058a9f2d4c3bc205e14301e4a0013c47226c96eb316969","abstract_canon_sha256":"d1abe73dbc4d819c236b9dd50c37c292b6d5ad7983f4a05ff6bc1cb31a602bb8"},"schema_version":"1.0"},"canonical_sha256":"58114631e71c727a34bc99862f23873820a47df0c716927f824fddb7ef778681","source":{"kind":"arxiv","id":"2002.02715","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.02715","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"arxiv_version","alias_value":"2002.02715v1","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.02715","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_12","alias_value":"LAIUMMPHDRZH","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_16","alias_value":"LAIUMMPHDRZHUNF4","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_8","alias_value":"LAIUMMPH","created_at":"2026-07-05T00:38:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:LAIUMMPHDRZHUNF4TGDC6I4HHA","target":"record","payload":{"canonical_record":{"source":{"id":"2002.02715","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-07T11:07:16Z","cross_cats_sorted":[],"title_canon_sha256":"e812e7767a3bf3d3e7058a9f2d4c3bc205e14301e4a0013c47226c96eb316969","abstract_canon_sha256":"d1abe73dbc4d819c236b9dd50c37c292b6d5ad7983f4a05ff6bc1cb31a602bb8"},"schema_version":"1.0"},"canonical_sha256":"58114631e71c727a34bc99862f23873820a47df0c716927f824fddb7ef778681","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:38:58.268658Z","signature_b64":"xqSo0Do2wJudclTFB/46ap2gWsvCY3f7TXZl6Q4jl7R06eljx2nBoX8O78/h+YD+KF04mZKT0rpcruqVBRPeBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"58114631e71c727a34bc99862f23873820a47df0c716927f824fddb7ef778681","last_reissued_at":"2026-07-05T00:38:58.268269Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:38:58.268269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2002.02715","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":"2026-07-05T00:38:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kuZPPJSlEaWmp5H0Ooh7QmvC2f2/6lyju9J4sauOFMPAqiOiQkJDbjCa/g+c6bfxz1e5m7wW62YX86uUvAAmCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:20:57.367951Z"},"content_sha256":"6e04320ac1ec59b8013457148c787b9d694cd20cdc2cc3f62d297e91515ba2c1","schema_version":"1.0","event_id":"sha256:6e04320ac1ec59b8013457148c787b9d694cd20cdc2cc3f62d297e91515ba2c1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:LAIUMMPHDRZHUNF4TGDC6I4HHA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anastasiia Varava, Danica Kragic, Florian T. Pokorny, J. Frederico Carvalho","submitted_at":"2020-02-07T11:07:16Z","abstract_excerpt":"In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space which are important for applications in robotic manipulation and path planning. Moreover, as we demonstrate, they are also applicable to identification of molecular cages in chemistry. Our algorithms are based on a decomposition of the resulting 3 and 6 dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.02715","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/2002.02715/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":"2026-07-05T00:38:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LCd0eUbI6ncyk6p5f3xH0TVdHRQQ5x/5tpcsXRycmsJANcBMbEc+WU2Uja0GoBRkpiDgLassekubtK2eYAiADQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:20:57.368341Z"},"content_sha256":"717b761ca84ca0b8591347567b1cc3d5e2cdca9799272d35112f63e68b2c8fb6","schema_version":"1.0","event_id":"sha256:717b761ca84ca0b8591347567b1cc3d5e2cdca9799272d35112f63e68b2c8fb6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/bundle.json","state_url":"https://pith.science/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/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":"2026-07-09T02:20:57Z","links":{"resolver":"https://pith.science/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA","bundle":"https://pith.science/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/bundle.json","state":"https://pith.science/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LAIUMMPHDRZHUNF4TGDC6I4HHA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:LAIUMMPHDRZHUNF4TGDC6I4HHA","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":"d1abe73dbc4d819c236b9dd50c37c292b6d5ad7983f4a05ff6bc1cb31a602bb8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-07T11:07:16Z","title_canon_sha256":"e812e7767a3bf3d3e7058a9f2d4c3bc205e14301e4a0013c47226c96eb316969"},"schema_version":"1.0","source":{"id":"2002.02715","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.02715","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"arxiv_version","alias_value":"2002.02715v1","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.02715","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_12","alias_value":"LAIUMMPHDRZH","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_16","alias_value":"LAIUMMPHDRZHUNF4","created_at":"2026-07-05T00:38:58Z"},{"alias_kind":"pith_short_8","alias_value":"LAIUMMPH","created_at":"2026-07-05T00:38:58Z"}],"graph_snapshots":[{"event_id":"sha256:717b761ca84ca0b8591347567b1cc3d5e2cdca9799272d35112f63e68b2c8fb6","target":"graph","created_at":"2026-07-05T00:38:58Z","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/2002.02715/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space which are important for applications in robotic manipulation and path planning. Moreover, as we demonstrate, they are also applicable to identification of molecular cages in chemistry. Our algorithms are based on a decomposition of the resulting 3 and 6 dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in con","authors_text":"Anastasiia Varava, Danica Kragic, Florian T. Pokorny, J. Frederico Carvalho","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-07T11:07:16Z","title":"Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.02715","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":"sha256:6e04320ac1ec59b8013457148c787b9d694cd20cdc2cc3f62d297e91515ba2c1","target":"record","created_at":"2026-07-05T00:38:58Z","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":"d1abe73dbc4d819c236b9dd50c37c292b6d5ad7983f4a05ff6bc1cb31a602bb8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-07T11:07:16Z","title_canon_sha256":"e812e7767a3bf3d3e7058a9f2d4c3bc205e14301e4a0013c47226c96eb316969"},"schema_version":"1.0","source":{"id":"2002.02715","kind":"arxiv","version":1}},"canonical_sha256":"58114631e71c727a34bc99862f23873820a47df0c716927f824fddb7ef778681","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"58114631e71c727a34bc99862f23873820a47df0c716927f824fddb7ef778681","first_computed_at":"2026-07-05T00:38:58.268269Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:38:58.268269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xqSo0Do2wJudclTFB/46ap2gWsvCY3f7TXZl6Q4jl7R06eljx2nBoX8O78/h+YD+KF04mZKT0rpcruqVBRPeBw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:38:58.268658Z","signed_message":"canonical_sha256_bytes"},"source_id":"2002.02715","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6e04320ac1ec59b8013457148c787b9d694cd20cdc2cc3f62d297e91515ba2c1","sha256:717b761ca84ca0b8591347567b1cc3d5e2cdca9799272d35112f63e68b2c8fb6"],"state_sha256":"401bceffbbd04dbc7ba9ebdf36c16d600bf30ff7cae76688265fb4dff1edfd4e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DsJG37DzYe4aO2adIKQ23TYKAd3I4mDn1OeAd+vuCwKcz2Zl0gHryrncfcY+WIELc1Y1Q/hL5hW4sieJFMGmDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T02:20:57.370333Z","bundle_sha256":"32f2e04158218e40dcb03205e92be39bdcd02efc7b2776d19405c9e3e2e11280"}}