{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:LM5AQ7YBCZZHFQ3MXRGI7DU3SZ","short_pith_number":"pith:LM5AQ7YB","canonical_record":{"source":{"id":"2306.14021","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-24T17:08:32Z","cross_cats_sorted":[],"title_canon_sha256":"429da506803383ab1eca4c6ce7d4263081f645686c88e7f7931a8e3f3691ac3c","abstract_canon_sha256":"f7c8cd4c2ba4aa8c33bf4ea315f62f959a9acc3ce24823e743ba526d0888ff06"},"schema_version":"1.0"},"canonical_sha256":"5b3a087f01167272c36cbc4c8f8e9b965be38f967c649eb07fb0ac38c330f58d","source":{"kind":"arxiv","id":"2306.14021","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.14021","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"arxiv_version","alias_value":"2306.14021v1","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.14021","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_12","alias_value":"LM5AQ7YBCZZH","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_16","alias_value":"LM5AQ7YBCZZHFQ3M","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_8","alias_value":"LM5AQ7YB","created_at":"2026-07-05T06:24:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:LM5AQ7YBCZZHFQ3MXRGI7DU3SZ","target":"record","payload":{"canonical_record":{"source":{"id":"2306.14021","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-24T17:08:32Z","cross_cats_sorted":[],"title_canon_sha256":"429da506803383ab1eca4c6ce7d4263081f645686c88e7f7931a8e3f3691ac3c","abstract_canon_sha256":"f7c8cd4c2ba4aa8c33bf4ea315f62f959a9acc3ce24823e743ba526d0888ff06"},"schema_version":"1.0"},"canonical_sha256":"5b3a087f01167272c36cbc4c8f8e9b965be38f967c649eb07fb0ac38c330f58d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:24:18.962964Z","signature_b64":"sjbs7yU5pY5NY9v4+EWBLCt0/zkPLZO5wZ7nuS7UQYivCqaRr1TKUkDfwp4muWm5qMfjMdkWVtjbIWd4yFVvDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5b3a087f01167272c36cbc4c8f8e9b965be38f967c649eb07fb0ac38c330f58d","last_reissued_at":"2026-07-05T06:24:18.962569Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:24:18.962569Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.14021","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":"2026-07-05T06:24:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MDsKoDKpb06bbiQAjx1q2QN2HLXYxgRtA9h/HXFU/wpqXejgd7sl4egRUCfAAQ6JJ10uAF2PlPkvPvqwolHfCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T12:38:08.229272Z"},"content_sha256":"9e16665f09ff334f61d74c04ee9d7b2694af9996fd54823002b6c22c1b88bb43","schema_version":"1.0","event_id":"sha256:9e16665f09ff334f61d74c04ee9d7b2694af9996fd54823002b6c22c1b88bb43"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:LM5AQ7YBCZZHFQ3MXRGI7DU3SZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aviv Adler, Edith Llontop, Ken Goldberg, Mehmet R Dogar, Shrey Aeron, Wisdom C. Agboh","submitted_at":"2023-06-24T17:08:32Z","abstract_excerpt":"Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can improve efficiency by increasing the average number of objects grasped per trip (OpT). However, grasping multiple objects requires the objects to be aligned and in close proximity. In this work, we propose Push-MOG, an algorithm that computes \"fork pushing\" actions using a parallel-jaw gripper to create graspable object clusters. In physical declu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.14021","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/2306.14021/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":"2026-07-05T06:24:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UFyYED53+Cq6BeUyW6VHQ8yhThgZgdzHSzSuvpfduVvrBCfo9TRKZhlbKoQ2Qk6wKD0KIDP374P2SNAGt2AbAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T12:38:08.229660Z"},"content_sha256":"51f5f7461f8871152c5aec64d15c5d7fa77d51ffff99770b2304e901d9aa62d8","schema_version":"1.0","event_id":"sha256:51f5f7461f8871152c5aec64d15c5d7fa77d51ffff99770b2304e901d9aa62d8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/bundle.json","state_url":"https://pith.science/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/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":"2026-07-07T12:38:08Z","links":{"resolver":"https://pith.science/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ","bundle":"https://pith.science/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/bundle.json","state":"https://pith.science/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LM5AQ7YBCZZHFQ3MXRGI7DU3SZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:LM5AQ7YBCZZHFQ3MXRGI7DU3SZ","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":"f7c8cd4c2ba4aa8c33bf4ea315f62f959a9acc3ce24823e743ba526d0888ff06","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-24T17:08:32Z","title_canon_sha256":"429da506803383ab1eca4c6ce7d4263081f645686c88e7f7931a8e3f3691ac3c"},"schema_version":"1.0","source":{"id":"2306.14021","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.14021","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"arxiv_version","alias_value":"2306.14021v1","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.14021","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_12","alias_value":"LM5AQ7YBCZZH","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_16","alias_value":"LM5AQ7YBCZZHFQ3M","created_at":"2026-07-05T06:24:18Z"},{"alias_kind":"pith_short_8","alias_value":"LM5AQ7YB","created_at":"2026-07-05T06:24:18Z"}],"graph_snapshots":[{"event_id":"sha256:51f5f7461f8871152c5aec64d15c5d7fa77d51ffff99770b2304e901d9aa62d8","target":"graph","created_at":"2026-07-05T06:24:18Z","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/2306.14021/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can improve efficiency by increasing the average number of objects grasped per trip (OpT). However, grasping multiple objects requires the objects to be aligned and in close proximity. In this work, we propose Push-MOG, an algorithm that computes \"fork pushing\" actions using a parallel-jaw gripper to create graspable object clusters. In physical declu","authors_text":"Aviv Adler, Edith Llontop, Ken Goldberg, Mehmet R Dogar, Shrey Aeron, Wisdom C. Agboh","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-24T17:08:32Z","title":"Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.14021","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":"sha256:9e16665f09ff334f61d74c04ee9d7b2694af9996fd54823002b6c22c1b88bb43","target":"record","created_at":"2026-07-05T06:24:18Z","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":"f7c8cd4c2ba4aa8c33bf4ea315f62f959a9acc3ce24823e743ba526d0888ff06","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-24T17:08:32Z","title_canon_sha256":"429da506803383ab1eca4c6ce7d4263081f645686c88e7f7931a8e3f3691ac3c"},"schema_version":"1.0","source":{"id":"2306.14021","kind":"arxiv","version":1}},"canonical_sha256":"5b3a087f01167272c36cbc4c8f8e9b965be38f967c649eb07fb0ac38c330f58d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5b3a087f01167272c36cbc4c8f8e9b965be38f967c649eb07fb0ac38c330f58d","first_computed_at":"2026-07-05T06:24:18.962569Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:24:18.962569Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sjbs7yU5pY5NY9v4+EWBLCt0/zkPLZO5wZ7nuS7UQYivCqaRr1TKUkDfwp4muWm5qMfjMdkWVtjbIWd4yFVvDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:24:18.962964Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.14021","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9e16665f09ff334f61d74c04ee9d7b2694af9996fd54823002b6c22c1b88bb43","sha256:51f5f7461f8871152c5aec64d15c5d7fa77d51ffff99770b2304e901d9aa62d8"],"state_sha256":"e017b3ae0e083284b9a0ff21c92329b2ca7b83b7de85623d35fc72fa28e30023"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fhxooyRGOA9kgPp/DQuY97LDjGrNuxkAXhJVHJSxSFOL2Zh2nqhWJc6/Z1vaCbULsxnzwxRx11MSPoHP9LstDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T12:38:08.231558Z","bundle_sha256":"e57bfb7bb547f06f6916a92696352b68b92ee8dde584d3c14988a215824c600d"}}