{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:LLO5ZXB5BVEERMARU7JJJF7DV5","short_pith_number":"pith:LLO5ZXB5","canonical_record":{"source":{"id":"2210.08600","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-16T17:58:10Z","cross_cats_sorted":[],"title_canon_sha256":"b94a35ed78d2b981b0fe36d4c724a97d2734864c235aa6caa1a939cbc337476c","abstract_canon_sha256":"f396afb700a9e13939717925ee9cc8ef28393b293395af3b2bd216eaf944e209"},"schema_version":"1.0"},"canonical_sha256":"5adddcdc3d0d4848b011a7d29497e3af5854c38cece3ad09e2ff4f5935dec86a","source":{"kind":"arxiv","id":"2210.08600","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.08600","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"arxiv_version","alias_value":"2210.08600v1","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.08600","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_12","alias_value":"LLO5ZXB5BVEE","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_16","alias_value":"LLO5ZXB5BVEERMAR","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_8","alias_value":"LLO5ZXB5","created_at":"2026-07-05T05:07:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:LLO5ZXB5BVEERMARU7JJJF7DV5","target":"record","payload":{"canonical_record":{"source":{"id":"2210.08600","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-16T17:58:10Z","cross_cats_sorted":[],"title_canon_sha256":"b94a35ed78d2b981b0fe36d4c724a97d2734864c235aa6caa1a939cbc337476c","abstract_canon_sha256":"f396afb700a9e13939717925ee9cc8ef28393b293395af3b2bd216eaf944e209"},"schema_version":"1.0"},"canonical_sha256":"5adddcdc3d0d4848b011a7d29497e3af5854c38cece3ad09e2ff4f5935dec86a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:07:12.669105Z","signature_b64":"78M+9cxZgL01UcYfzjB+ZAwLqVbx+1rS/FeMU+MOf/iIZW9fX1lqDddpgLSS+vCkc7nJx4ETkXTPFnM6zpUQBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5adddcdc3d0d4848b011a7d29497e3af5854c38cece3ad09e2ff4f5935dec86a","last_reissued_at":"2026-07-05T05:07:12.668643Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:07:12.668643Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.08600","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":"2026-07-05T05:07:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6/Ugrt4kx1jp83w4gRrF/j/qSi3VeI0f0Z+xDW0l9eDsXhel75uIhwPZjhrHR929u9UjZ79T+qkejzrwidqZCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:00:06.586068Z"},"content_sha256":"12b825a1f4c7213ba7e9ef7ce35ad5cfc3242869b664f26777b12383881ecc19","schema_version":"1.0","event_id":"sha256:12b825a1f4c7213ba7e9ef7ce35ad5cfc3242869b664f26777b12383881ecc19"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:LLO5ZXB5BVEERMARU7JJJF7DV5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David C\\'aceres Dom\\'inguez, Erik Schaffernicht, Johannes A. Stork, Marco Iannotta, Todor Stoyanov","submitted_at":"2022-10-16T17:58:10Z","abstract_excerpt":"Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.08600","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/2210.08600/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":"2026-07-05T05:07:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eER4b4HJKVpy4lVpwi1i8bXgUfgE4DfwPKRBuD03s/dku7fJNIJopnS5uCSFtDNtn8ALCv0ebKp/pVcP6v4CAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:00:06.586459Z"},"content_sha256":"21b4327e65649c7100e8bde2f4d95f79882a74c78e29e393e1c8a63820c5f719","schema_version":"1.0","event_id":"sha256:21b4327e65649c7100e8bde2f4d95f79882a74c78e29e393e1c8a63820c5f719"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/bundle.json","state_url":"https://pith.science/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/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":"2026-07-07T06:00:06Z","links":{"resolver":"https://pith.science/pith/LLO5ZXB5BVEERMARU7JJJF7DV5","bundle":"https://pith.science/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/bundle.json","state":"https://pith.science/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LLO5ZXB5BVEERMARU7JJJF7DV5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:LLO5ZXB5BVEERMARU7JJJF7DV5","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":"f396afb700a9e13939717925ee9cc8ef28393b293395af3b2bd216eaf944e209","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-16T17:58:10Z","title_canon_sha256":"b94a35ed78d2b981b0fe36d4c724a97d2734864c235aa6caa1a939cbc337476c"},"schema_version":"1.0","source":{"id":"2210.08600","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.08600","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"arxiv_version","alias_value":"2210.08600v1","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.08600","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_12","alias_value":"LLO5ZXB5BVEE","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_16","alias_value":"LLO5ZXB5BVEERMAR","created_at":"2026-07-05T05:07:12Z"},{"alias_kind":"pith_short_8","alias_value":"LLO5ZXB5","created_at":"2026-07-05T05:07:12Z"}],"graph_snapshots":[{"event_id":"sha256:21b4327e65649c7100e8bde2f4d95f79882a74c78e29e393e1c8a63820c5f719","target":"graph","created_at":"2026-07-05T05:07:12Z","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/2210.08600/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.","authors_text":"David C\\'aceres Dom\\'inguez, Erik Schaffernicht, Johannes A. Stork, Marco Iannotta, Todor Stoyanov","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-16T17:58:10Z","title":"Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.08600","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":"sha256:12b825a1f4c7213ba7e9ef7ce35ad5cfc3242869b664f26777b12383881ecc19","target":"record","created_at":"2026-07-05T05:07:12Z","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":"f396afb700a9e13939717925ee9cc8ef28393b293395af3b2bd216eaf944e209","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-16T17:58:10Z","title_canon_sha256":"b94a35ed78d2b981b0fe36d4c724a97d2734864c235aa6caa1a939cbc337476c"},"schema_version":"1.0","source":{"id":"2210.08600","kind":"arxiv","version":1}},"canonical_sha256":"5adddcdc3d0d4848b011a7d29497e3af5854c38cece3ad09e2ff4f5935dec86a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5adddcdc3d0d4848b011a7d29497e3af5854c38cece3ad09e2ff4f5935dec86a","first_computed_at":"2026-07-05T05:07:12.668643Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:07:12.668643Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"78M+9cxZgL01UcYfzjB+ZAwLqVbx+1rS/FeMU+MOf/iIZW9fX1lqDddpgLSS+vCkc7nJx4ETkXTPFnM6zpUQBg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:07:12.669105Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.08600","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12b825a1f4c7213ba7e9ef7ce35ad5cfc3242869b664f26777b12383881ecc19","sha256:21b4327e65649c7100e8bde2f4d95f79882a74c78e29e393e1c8a63820c5f719"],"state_sha256":"9e011ca00f4ab41b90ef5bd204a6c1e4881c84f49cfd86c7847998fa371b210d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SIFsy0fd2Nn3cY7ilpy8nyi5aK5NGcCDklusSRjWH7aa30c7hLgab25dfVfMWziBxG+BifTMk3sNrxROrpP9CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:00:06.588777Z","bundle_sha256":"ed34f8095962728d7b17dbc930cc3a0b9eb8c44cce7ea501ace0708b393adc7a"}}