{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:P54CSGDYM35CQ3YBM2TSJMBMMG","short_pith_number":"pith:P54CSGDY","canonical_record":{"source":{"id":"2503.11736","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-14T14:02:12Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"181cfcb1c012fd2f5fcf1b42d37ef7dd75daf0c9b24196cdde73936db632d26a","abstract_canon_sha256":"28ca0bc1e84f718c7a0e2c37a26014ea1935733808e9e06f1b92c5f0e95969bc"},"schema_version":"1.0"},"canonical_sha256":"7f7829187866fa286f0166a724b02c61b83db3e764fd0470710a8cff3e70bdda","source":{"kind":"arxiv","id":"2503.11736","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.11736","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"arxiv_version","alias_value":"2503.11736v2","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.11736","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_12","alias_value":"P54CSGDYM35C","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_16","alias_value":"P54CSGDYM35CQ3YB","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_8","alias_value":"P54CSGDY","created_at":"2026-07-05T10:48:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:P54CSGDYM35CQ3YBM2TSJMBMMG","target":"record","payload":{"canonical_record":{"source":{"id":"2503.11736","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-14T14:02:12Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"181cfcb1c012fd2f5fcf1b42d37ef7dd75daf0c9b24196cdde73936db632d26a","abstract_canon_sha256":"28ca0bc1e84f718c7a0e2c37a26014ea1935733808e9e06f1b92c5f0e95969bc"},"schema_version":"1.0"},"canonical_sha256":"7f7829187866fa286f0166a724b02c61b83db3e764fd0470710a8cff3e70bdda","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:48:26.987575Z","signature_b64":"4Q9CkQmzVHvbJtXAUg+t+9+ky5Ce8TTnrOWGtv695ONcJKMZSMkqyUNTfLwY5/0mL/1oVu/6H3g3t1Arv28AAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7f7829187866fa286f0166a724b02c61b83db3e764fd0470710a8cff3e70bdda","last_reissued_at":"2026-07-05T10:48:26.987017Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:48:26.987017Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.11736","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":"2026-07-05T10:48:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tm41rFUAZEGiHHZFbsSM6tKdwEyV7f0tdB5Z7JKjCCO5paqoUGGjg87IxhQBaKEKQxr21Kji1OHJ3sZ9TEeiCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:52:58.019658Z"},"content_sha256":"2e9744ee0b082fd66365fadd4915da2d49c54b035bcf677dbd492c6ee8aba8be","schema_version":"1.0","event_id":"sha256:2e9744ee0b082fd66365fadd4915da2d49c54b035bcf677dbd492c6ee8aba8be"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:P54CSGDYM35CQ3YBM2TSJMBMMG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"Amirreza Razmjoo, A. Ren\\'e Geist, Georg Martius, Ji Shi, Nico G\\\"urtler, Onur Beker, Sylvain Calinon","submitted_at":"2025-03-14T14:02:12Z","abstract_excerpt":"Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and discontinuous optimization landscapes that are characteristic of contact interactions, yet zeroth-order methods remain computationally inefficient. It is therefore desirable to develop methods for perception, planning and control in contact-rich settings that can achieve further efficiency by making use of first and second order information (i.e., gradients and Hess"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.11736","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/2503.11736/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":"2026-07-05T10:48:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WvpgP25Matd349l9u4boRNWRg+r5ALy9uPmurV//0lXAYxMk8tkN6Lq/i2ZjTKgtCkseneL7f1XOUpuoejIABg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:52:58.020034Z"},"content_sha256":"3a27f96c8d6d6a06f3c317655472ec428ca982e4979f87f9692bab67e2e6f283","schema_version":"1.0","event_id":"sha256:3a27f96c8d6d6a06f3c317655472ec428ca982e4979f87f9692bab67e2e6f283"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/bundle.json","state_url":"https://pith.science/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/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":"2026-07-06T16:52:58Z","links":{"resolver":"https://pith.science/pith/P54CSGDYM35CQ3YBM2TSJMBMMG","bundle":"https://pith.science/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/bundle.json","state":"https://pith.science/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/P54CSGDYM35CQ3YBM2TSJMBMMG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:P54CSGDYM35CQ3YBM2TSJMBMMG","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":"28ca0bc1e84f718c7a0e2c37a26014ea1935733808e9e06f1b92c5f0e95969bc","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-14T14:02:12Z","title_canon_sha256":"181cfcb1c012fd2f5fcf1b42d37ef7dd75daf0c9b24196cdde73936db632d26a"},"schema_version":"1.0","source":{"id":"2503.11736","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.11736","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"arxiv_version","alias_value":"2503.11736v2","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.11736","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_12","alias_value":"P54CSGDYM35C","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_16","alias_value":"P54CSGDYM35CQ3YB","created_at":"2026-07-05T10:48:26Z"},{"alias_kind":"pith_short_8","alias_value":"P54CSGDY","created_at":"2026-07-05T10:48:26Z"}],"graph_snapshots":[{"event_id":"sha256:3a27f96c8d6d6a06f3c317655472ec428ca982e4979f87f9692bab67e2e6f283","target":"graph","created_at":"2026-07-05T10:48:26Z","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/2503.11736/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and discontinuous optimization landscapes that are characteristic of contact interactions, yet zeroth-order methods remain computationally inefficient. It is therefore desirable to develop methods for perception, planning and control in contact-rich settings that can achieve further efficiency by making use of first and second order information (i.e., gradients and Hess","authors_text":"Amirreza Razmjoo, A. Ren\\'e Geist, Georg Martius, Ji Shi, Nico G\\\"urtler, Onur Beker, Sylvain Calinon","cross_cats":["math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-14T14:02:12Z","title":"A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.11736","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":"sha256:2e9744ee0b082fd66365fadd4915da2d49c54b035bcf677dbd492c6ee8aba8be","target":"record","created_at":"2026-07-05T10:48:26Z","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":"28ca0bc1e84f718c7a0e2c37a26014ea1935733808e9e06f1b92c5f0e95969bc","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-14T14:02:12Z","title_canon_sha256":"181cfcb1c012fd2f5fcf1b42d37ef7dd75daf0c9b24196cdde73936db632d26a"},"schema_version":"1.0","source":{"id":"2503.11736","kind":"arxiv","version":2}},"canonical_sha256":"7f7829187866fa286f0166a724b02c61b83db3e764fd0470710a8cff3e70bdda","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7f7829187866fa286f0166a724b02c61b83db3e764fd0470710a8cff3e70bdda","first_computed_at":"2026-07-05T10:48:26.987017Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:48:26.987017Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4Q9CkQmzVHvbJtXAUg+t+9+ky5Ce8TTnrOWGtv695ONcJKMZSMkqyUNTfLwY5/0mL/1oVu/6H3g3t1Arv28AAA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:48:26.987575Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.11736","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2e9744ee0b082fd66365fadd4915da2d49c54b035bcf677dbd492c6ee8aba8be","sha256:3a27f96c8d6d6a06f3c317655472ec428ca982e4979f87f9692bab67e2e6f283"],"state_sha256":"76586a92d067b2ca89b7ec3f08010f074915aca96116736e6417cac9a37a99a3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u2qRBqLMd3QHIy/1W41WxVcovJ0KqHwSaFRhsTZRwdkNA5KcughM9STeuW16VPi53JSZrGexcodU96/9twXGBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:52:58.022010Z","bundle_sha256":"a98b39153baea5d79af958d0b0b25eab1864c9e2d5c4c64d0cc134737e75b1b5"}}