{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:R4QQK62HP3IQVWWYNHWWC3VS4J","short_pith_number":"pith:R4QQK62H","canonical_record":{"source":{"id":"2003.11707","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-26T02:28:32Z","cross_cats_sorted":[],"title_canon_sha256":"57122cae0e32a08d6215d05a4151356e65d2d5e0dea18b354b611e67e5a0925a","abstract_canon_sha256":"b526f4bd93348040a754b0ee5ff871994ca703220587a22b0025cc6b5fa29745"},"schema_version":"1.0"},"canonical_sha256":"8f21057b477ed10adad869ed616eb2e2463580b57178221851c72eab89c41116","source":{"kind":"arxiv","id":"2003.11707","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.11707","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"arxiv_version","alias_value":"2003.11707v1","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.11707","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_12","alias_value":"R4QQK62HP3IQ","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_16","alias_value":"R4QQK62HP3IQVWWY","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_8","alias_value":"R4QQK62H","created_at":"2026-07-05T03:03:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:R4QQK62HP3IQVWWYNHWWC3VS4J","target":"record","payload":{"canonical_record":{"source":{"id":"2003.11707","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-26T02:28:32Z","cross_cats_sorted":[],"title_canon_sha256":"57122cae0e32a08d6215d05a4151356e65d2d5e0dea18b354b611e67e5a0925a","abstract_canon_sha256":"b526f4bd93348040a754b0ee5ff871994ca703220587a22b0025cc6b5fa29745"},"schema_version":"1.0"},"canonical_sha256":"8f21057b477ed10adad869ed616eb2e2463580b57178221851c72eab89c41116","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:03:48.420044Z","signature_b64":"Fm9wQkpcmSLzflS/OKJNkbdsSRrEmlHQVKrjVOg1JTaiHY37YkQAk4ziug9H+XMlVvpG1atBNy2j+milk5k7Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8f21057b477ed10adad869ed616eb2e2463580b57178221851c72eab89c41116","last_reissued_at":"2026-07-05T03:03:48.419562Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:03:48.419562Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.11707","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":"2026-07-05T03:03:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vWdwcpXvuh/StJicokpGp7W0RnglkVguhmkxS1Bqo3cRP8XH8ax/89DdmBiSH6zdDNCUxzWUfSMSti2ylgc1Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:56:14.149021Z"},"content_sha256":"2b1f358c6241cde1e2240f3b95235d5e1c461224fd82cfd06e74a80be1ccbe0d","schema_version":"1.0","event_id":"sha256:2b1f358c6241cde1e2240f3b95235d5e1c461224fd82cfd06e74a80be1ccbe0d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:R4QQK62HP3IQVWWYNHWWC3VS4J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Integrating Combined Task and Motion Planning with Compliant Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hao Chen, Juncheng Li, Kensuke Harada, Weiwei Wan, Zhifeng Huang","submitted_at":"2020-03-26T02:28:32Z","abstract_excerpt":"Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to solve the problem. The method uses combined task and motion planning to plan the grasps and motion for a dual-arm robot to pick up the objects and move them to assembly poses. Then, it controls the dual-arm robot using a compliant strategy (a combination of linear search, spiral search, and impedance control) to finish up the insertion. The method is implem"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.11707","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/2003.11707/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":"2026-07-05T03:03:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/uKaBcTbbi1k+NfxdgDsIenWG8P7LuZnWni2m+is4E0ALn2DS8w2F8876NWJ6Wxjn88IE/51vVgspk/5UYGYAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:56:14.149584Z"},"content_sha256":"a7ca973ae1378e1b96fb3156eabb69955b597df0de56cfd8e1c5f9215edee08a","schema_version":"1.0","event_id":"sha256:a7ca973ae1378e1b96fb3156eabb69955b597df0de56cfd8e1c5f9215edee08a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/bundle.json","state_url":"https://pith.science/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/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":"2026-08-05T09:56:14Z","links":{"resolver":"https://pith.science/pith/R4QQK62HP3IQVWWYNHWWC3VS4J","bundle":"https://pith.science/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/bundle.json","state":"https://pith.science/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R4QQK62HP3IQVWWYNHWWC3VS4J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:R4QQK62HP3IQVWWYNHWWC3VS4J","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":"b526f4bd93348040a754b0ee5ff871994ca703220587a22b0025cc6b5fa29745","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-26T02:28:32Z","title_canon_sha256":"57122cae0e32a08d6215d05a4151356e65d2d5e0dea18b354b611e67e5a0925a"},"schema_version":"1.0","source":{"id":"2003.11707","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.11707","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"arxiv_version","alias_value":"2003.11707v1","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.11707","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_12","alias_value":"R4QQK62HP3IQ","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_16","alias_value":"R4QQK62HP3IQVWWY","created_at":"2026-07-05T03:03:48Z"},{"alias_kind":"pith_short_8","alias_value":"R4QQK62H","created_at":"2026-07-05T03:03:48Z"}],"graph_snapshots":[{"event_id":"sha256:a7ca973ae1378e1b96fb3156eabb69955b597df0de56cfd8e1c5f9215edee08a","target":"graph","created_at":"2026-07-05T03:03:48Z","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/2003.11707/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to solve the problem. The method uses combined task and motion planning to plan the grasps and motion for a dual-arm robot to pick up the objects and move them to assembly poses. Then, it controls the dual-arm robot using a compliant strategy (a combination of linear search, spiral search, and impedance control) to finish up the insertion. The method is implem","authors_text":"Hao Chen, Juncheng Li, Kensuke Harada, Weiwei Wan, Zhifeng Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-26T02:28:32Z","title":"Integrating Combined Task and Motion Planning with Compliant Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.11707","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":"sha256:2b1f358c6241cde1e2240f3b95235d5e1c461224fd82cfd06e74a80be1ccbe0d","target":"record","created_at":"2026-07-05T03:03:48Z","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":"b526f4bd93348040a754b0ee5ff871994ca703220587a22b0025cc6b5fa29745","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-26T02:28:32Z","title_canon_sha256":"57122cae0e32a08d6215d05a4151356e65d2d5e0dea18b354b611e67e5a0925a"},"schema_version":"1.0","source":{"id":"2003.11707","kind":"arxiv","version":1}},"canonical_sha256":"8f21057b477ed10adad869ed616eb2e2463580b57178221851c72eab89c41116","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8f21057b477ed10adad869ed616eb2e2463580b57178221851c72eab89c41116","first_computed_at":"2026-07-05T03:03:48.419562Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:03:48.419562Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Fm9wQkpcmSLzflS/OKJNkbdsSRrEmlHQVKrjVOg1JTaiHY37YkQAk4ziug9H+XMlVvpG1atBNy2j+milk5k7Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:03:48.420044Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.11707","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2b1f358c6241cde1e2240f3b95235d5e1c461224fd82cfd06e74a80be1ccbe0d","sha256:a7ca973ae1378e1b96fb3156eabb69955b597df0de56cfd8e1c5f9215edee08a"],"state_sha256":"ee804d334c1b5805e9c365a35041188165ff2d30e57d30c67d16f589ba98dde4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5kDm4W6FkxX2G2Un8miDBNBLptbsUkmQb9Ay7TrL3pxLXRIP0Ntlu3+g2Y+7zBVV1zypcx8TYYroEmZdMkU0Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T09:56:14.153998Z","bundle_sha256":"c3b92bc96fba67d8abdd08adab1e5eff02d199f4b4158a8ae355b07324dd58f1"}}