{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:S274CHTRBWGPFNBPH35E34MFS7","short_pith_number":"pith:S274CHTR","schema_version":"1.0","canonical_sha256":"96bfc11e710d8cf2b42f3efa4df18597fa22e2eba329d6d28eb9e86f3de6df8f","source":{"kind":"arxiv","id":"1603.08642","version":1},"attestation_state":"computed","paper":{"title":"Rearrangement Planning via Heuristic Search","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jennifer E. King, Siddhartha S. Srinivasa","submitted_at":"2016-03-29T05:03:16Z","abstract_excerpt":"We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact with objects in the environment is critical to goal achievement. We dynamically generate goal-directed primitives that create and maintain contact between robot and object at each state expansion during the search. These primitives focus exploration toward critical areas of state-space, providing tractability to the high-dimensional planning problem. We demonst"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1603.08642","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-03-29T05:03:16Z","cross_cats_sorted":[],"title_canon_sha256":"1aec8641b3b2878d9421e15941d980d329de238a96dff35e380d9373605a6cab","abstract_canon_sha256":"15c96c03fd36f620fc4994d3220b52c8424993e788155f23ad8feb6486b69e8e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:18:05.750775Z","signature_b64":"6Zg3/tM+m3TbTKRIxZuXUQXGDm+XtSY0D7OM5V3f7vI41txpntz0wJGpw6IATLpA/mCkqdpvrtkd7vLpRydBCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96bfc11e710d8cf2b42f3efa4df18597fa22e2eba329d6d28eb9e86f3de6df8f","last_reissued_at":"2026-05-18T01:18:05.750210Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:18:05.750210Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Rearrangement Planning via Heuristic Search","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jennifer E. King, Siddhartha S. Srinivasa","submitted_at":"2016-03-29T05:03:16Z","abstract_excerpt":"We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact with objects in the environment is critical to goal achievement. We dynamically generate goal-directed primitives that create and maintain contact between robot and object at each state expansion during the search. These primitives focus exploration toward critical areas of state-space, providing tractability to the high-dimensional planning problem. We demonst"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.08642","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1603.08642","created_at":"2026-05-18T01:18:05.750326+00:00"},{"alias_kind":"arxiv_version","alias_value":"1603.08642v1","created_at":"2026-05-18T01:18:05.750326+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1603.08642","created_at":"2026-05-18T01:18:05.750326+00:00"},{"alias_kind":"pith_short_12","alias_value":"S274CHTRBWGP","created_at":"2026-05-18T12:30:41.710351+00:00"},{"alias_kind":"pith_short_16","alias_value":"S274CHTRBWGPFNBP","created_at":"2026-05-18T12:30:41.710351+00:00"},{"alias_kind":"pith_short_8","alias_value":"S274CHTR","created_at":"2026-05-18T12:30:41.710351+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7","json":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7.json","graph_json":"https://pith.science/api/pith-number/S274CHTRBWGPFNBPH35E34MFS7/graph.json","events_json":"https://pith.science/api/pith-number/S274CHTRBWGPFNBPH35E34MFS7/events.json","paper":"https://pith.science/paper/S274CHTR"},"agent_actions":{"view_html":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7","download_json":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7.json","view_paper":"https://pith.science/paper/S274CHTR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1603.08642&json=true","fetch_graph":"https://pith.science/api/pith-number/S274CHTRBWGPFNBPH35E34MFS7/graph.json","fetch_events":"https://pith.science/api/pith-number/S274CHTRBWGPFNBPH35E34MFS7/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7/action/timestamp_anchor","attest_storage":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7/action/storage_attestation","attest_author":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7/action/author_attestation","sign_citation":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7/action/citation_signature","submit_replication":"https://pith.science/pith/S274CHTRBWGPFNBPH35E34MFS7/action/replication_record"}},"created_at":"2026-05-18T01:18:05.750326+00:00","updated_at":"2026-05-18T01:18:05.750326+00:00"}