{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:LO6GBIVULCEHBQQB2YWB7Q7MGK","short_pith_number":"pith:LO6GBIVU","canonical_record":{"source":{"id":"2605.27167","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T15:24:07Z","cross_cats_sorted":[],"title_canon_sha256":"539e65672913ddb2152dcd8ae8007b527f9d94e76d31cec4769ab895779bc3c9","abstract_canon_sha256":"51c4675a634f28833fdde1996aba8edf793892ed38d33105ec5524bc1caf47ad"},"schema_version":"1.0"},"canonical_sha256":"5bbc60a2b4588870c201d62c1fc3ec3297fe40faabd9859cb61e63168825b1d1","source":{"kind":"arxiv","id":"2605.27167","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.27167","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.27167v1","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.27167","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_12","alias_value":"LO6GBIVULCEH","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_16","alias_value":"LO6GBIVULCEHBQQB","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_8","alias_value":"LO6GBIVU","created_at":"2026-05-27T02:05:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:LO6GBIVULCEHBQQB2YWB7Q7MGK","target":"record","payload":{"canonical_record":{"source":{"id":"2605.27167","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T15:24:07Z","cross_cats_sorted":[],"title_canon_sha256":"539e65672913ddb2152dcd8ae8007b527f9d94e76d31cec4769ab895779bc3c9","abstract_canon_sha256":"51c4675a634f28833fdde1996aba8edf793892ed38d33105ec5524bc1caf47ad"},"schema_version":"1.0"},"canonical_sha256":"5bbc60a2b4588870c201d62c1fc3ec3297fe40faabd9859cb61e63168825b1d1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-27T02:05:46.086921Z","signature_b64":"++FYnFbDQbxyrCQqayrZTB7s5tzhD0IXoB0y44bhjjQml7G6iN80cBGonycv3Y2MuikXorFFjXfVqXmohtqhDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5bbc60a2b4588870c201d62c1fc3ec3297fe40faabd9859cb61e63168825b1d1","last_reissued_at":"2026-05-27T02:05:46.086177Z","signature_status":"signed_v1","first_computed_at":"2026-05-27T02:05:46.086177Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.27167","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":"2026-05-27T02:05:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"b0aCCSp7GxTs9b4joQfaLdhB0RJN/bj/aoV7eQZWt6IqycbY9Ho9lCS/SzLB0mmntXoWKmJLw5gZm7/f8yg+Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T06:04:43.439424Z"},"content_sha256":"1f6ba6644fee337faf70f35dc2a2a12c264107d6a40643b5a814ca3649e89bd1","schema_version":"1.0","event_id":"sha256:1f6ba6644fee337faf70f35dc2a2a12c264107d6a40643b5a814ca3649e89bd1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:LO6GBIVULCEHBQQB2YWB7Q7MGK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengchao Bai, Jiawei Zhang, Jifeng Guo, Qinghua Li, Xinhao Miao","submitted_at":"2026-05-26T15:24:07Z","abstract_excerpt":"Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints significantly reduce the feasible configuration space, making it difficult for existing planners to efficiently generate collision-free motions, especially in cluttered environments. To address this issue, this paper proposes a task-space constrained bidirectional rapidly-exploring random tree algorithm, termed TCBiRRT. Unlike conventional methods that operate in the h"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.27167","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/2605.27167/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":"2026-05-27T02:05:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2wb1LbqkwFsjXGAL1iLWrYwni8CkbC/cc2LEm3waLTPlrTWS5Ly9CxMjnLOk6foApYjjuNBqDI+xmdREkxvaBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T06:04:43.440266Z"},"content_sha256":"24fd52f55fa2a5d92d875e8a6bf42c532630368743cf4c3ccd70903b281329c8","schema_version":"1.0","event_id":"sha256:24fd52f55fa2a5d92d875e8a6bf42c532630368743cf4c3ccd70903b281329c8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/bundle.json","state_url":"https://pith.science/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/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":"2026-06-11T06:04:43Z","links":{"resolver":"https://pith.science/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK","bundle":"https://pith.science/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/bundle.json","state":"https://pith.science/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LO6GBIVULCEHBQQB2YWB7Q7MGK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:LO6GBIVULCEHBQQB2YWB7Q7MGK","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":"51c4675a634f28833fdde1996aba8edf793892ed38d33105ec5524bc1caf47ad","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T15:24:07Z","title_canon_sha256":"539e65672913ddb2152dcd8ae8007b527f9d94e76d31cec4769ab895779bc3c9"},"schema_version":"1.0","source":{"id":"2605.27167","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.27167","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.27167v1","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.27167","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_12","alias_value":"LO6GBIVULCEH","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_16","alias_value":"LO6GBIVULCEHBQQB","created_at":"2026-05-27T02:05:46Z"},{"alias_kind":"pith_short_8","alias_value":"LO6GBIVU","created_at":"2026-05-27T02:05:46Z"}],"graph_snapshots":[{"event_id":"sha256:24fd52f55fa2a5d92d875e8a6bf42c532630368743cf4c3ccd70903b281329c8","target":"graph","created_at":"2026-05-27T02:05:46Z","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/2605.27167/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints significantly reduce the feasible configuration space, making it difficult for existing planners to efficiently generate collision-free motions, especially in cluttered environments. To address this issue, this paper proposes a task-space constrained bidirectional rapidly-exploring random tree algorithm, termed TCBiRRT. Unlike conventional methods that operate in the h","authors_text":"Chengchao Bai, Jiawei Zhang, Jifeng Guo, Qinghua Li, Xinhao Miao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T15:24:07Z","title":"TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.27167","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":"sha256:1f6ba6644fee337faf70f35dc2a2a12c264107d6a40643b5a814ca3649e89bd1","target":"record","created_at":"2026-05-27T02:05:46Z","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":"51c4675a634f28833fdde1996aba8edf793892ed38d33105ec5524bc1caf47ad","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T15:24:07Z","title_canon_sha256":"539e65672913ddb2152dcd8ae8007b527f9d94e76d31cec4769ab895779bc3c9"},"schema_version":"1.0","source":{"id":"2605.27167","kind":"arxiv","version":1}},"canonical_sha256":"5bbc60a2b4588870c201d62c1fc3ec3297fe40faabd9859cb61e63168825b1d1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5bbc60a2b4588870c201d62c1fc3ec3297fe40faabd9859cb61e63168825b1d1","first_computed_at":"2026-05-27T02:05:46.086177Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-27T02:05:46.086177Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"++FYnFbDQbxyrCQqayrZTB7s5tzhD0IXoB0y44bhjjQml7G6iN80cBGonycv3Y2MuikXorFFjXfVqXmohtqhDg==","signature_status":"signed_v1","signed_at":"2026-05-27T02:05:46.086921Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.27167","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1f6ba6644fee337faf70f35dc2a2a12c264107d6a40643b5a814ca3649e89bd1","sha256:24fd52f55fa2a5d92d875e8a6bf42c532630368743cf4c3ccd70903b281329c8"],"state_sha256":"de8c3ad38f5d9b1ed21f645198bacc945f9217bbf28019eeb7a157c3075e7ed8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XYWylBmMXqhOqsxSVHrCJC4HvPmZgP/R8sFAg/zvtrdqrn+uDA2tgbduuS4L7WfqUNNtmJ/adQnDgmSRbnFZCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T06:04:43.444835Z","bundle_sha256":"d1f318f946484fe56ae827d6c0529dca748430f21e2ee5a62efdb9d0a9600a64"}}