{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:SGRNFQU4LMGQ3W3F6PRM2KUWAY","short_pith_number":"pith:SGRNFQU4","canonical_record":{"source":{"id":"2402.10312","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-15T20:25:28Z","cross_cats_sorted":[],"title_canon_sha256":"ce07d56c88f1d68f4ecbae028bf480e7ce3387e9fff53bf74ece9793055c43b7","abstract_canon_sha256":"30d7d5ef9553c4892650408e8cc9d79e886ebe899959fe118f9ca73607e0eb9b"},"schema_version":"1.0"},"canonical_sha256":"91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f","source":{"kind":"arxiv","id":"2402.10312","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.10312","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"arxiv_version","alias_value":"2402.10312v2","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.10312","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_12","alias_value":"SGRNFQU4LMGQ","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_16","alias_value":"SGRNFQU4LMGQ3W3F","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_8","alias_value":"SGRNFQU4","created_at":"2026-07-05T08:40:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:SGRNFQU4LMGQ3W3F6PRM2KUWAY","target":"record","payload":{"canonical_record":{"source":{"id":"2402.10312","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-15T20:25:28Z","cross_cats_sorted":[],"title_canon_sha256":"ce07d56c88f1d68f4ecbae028bf480e7ce3387e9fff53bf74ece9793055c43b7","abstract_canon_sha256":"30d7d5ef9553c4892650408e8cc9d79e886ebe899959fe118f9ca73607e0eb9b"},"schema_version":"1.0"},"canonical_sha256":"91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:40:13.636382Z","signature_b64":"i9gEoq+xbqPBxoj3LxZsDklJgjSVf+trIAWtuDcqcaW6ksUDvOZd6SuLz2WzRWHa9YMvJixBVfs2Jx8HIbzaBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f","last_reissued_at":"2026-07-05T08:40:13.635929Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:40:13.635929Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.10312","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":"2026-07-05T08:40:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xCocRf2f9ytw+DCDwne+i6j+rnskK8TPYxNvT0TZMGu9URjjS2WGlJv5YKBwZ5+2nF8PTcBdcG8b+sJshZRIBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:57:41.182620Z"},"content_sha256":"39aeab2c4675eb471508af1068721876f8d6aaf68643a70d8ae3499db8446749","schema_version":"1.0","event_id":"sha256:39aeab2c4675eb471508af1068721876f8d6aaf68643a70d8ae3499db8446749"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:SGRNFQU4LMGQ3W3F6PRM2KUWAY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Tight Convex Relaxations for Contact-Rich Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandre Amice, Bernhard Paus Graesdal, Pablo A. Parrilo, Russ Tedrake, Savva Morozov, Shao Yuan Chew Chia, Tobia Marcucci","submitted_at":"2024-02-15T20:25:28Z","abstract_excerpt":"We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the motion-planning problem as a shortest-path problem in a graph of convex sets, where a path in the graph corresponds to a contact sequence and a convex set models the quasi-static dynamics within a fixed contact mode. For each contact mode, we use semidefinite programming to relax the nonconvex dynamics that results from the simultaneous optimization of the o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.10312","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/2402.10312/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":"2026-07-05T08:40:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JwcYVbQWj3nkKwoMjDZISvsC58/5KgzeOnSxygEcIr9qu33Uzs7jfeev6bFcXbkUsVWG3vaIFslQn2m4Z0rAAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:57:41.183110Z"},"content_sha256":"ad07cb010d13a1357a0b0ee9d6e3dd64a86e96a4e9b256f227f5265df1911b12","schema_version":"1.0","event_id":"sha256:ad07cb010d13a1357a0b0ee9d6e3dd64a86e96a4e9b256f227f5265df1911b12"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/bundle.json","state_url":"https://pith.science/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/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":"2026-08-09T02:57:41Z","links":{"resolver":"https://pith.science/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY","bundle":"https://pith.science/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/bundle.json","state":"https://pith.science/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SGRNFQU4LMGQ3W3F6PRM2KUWAY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:SGRNFQU4LMGQ3W3F6PRM2KUWAY","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":"30d7d5ef9553c4892650408e8cc9d79e886ebe899959fe118f9ca73607e0eb9b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-15T20:25:28Z","title_canon_sha256":"ce07d56c88f1d68f4ecbae028bf480e7ce3387e9fff53bf74ece9793055c43b7"},"schema_version":"1.0","source":{"id":"2402.10312","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.10312","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"arxiv_version","alias_value":"2402.10312v2","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.10312","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_12","alias_value":"SGRNFQU4LMGQ","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_16","alias_value":"SGRNFQU4LMGQ3W3F","created_at":"2026-07-05T08:40:13Z"},{"alias_kind":"pith_short_8","alias_value":"SGRNFQU4","created_at":"2026-07-05T08:40:13Z"}],"graph_snapshots":[{"event_id":"sha256:ad07cb010d13a1357a0b0ee9d6e3dd64a86e96a4e9b256f227f5265df1911b12","target":"graph","created_at":"2026-07-05T08:40:13Z","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/2402.10312/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the motion-planning problem as a shortest-path problem in a graph of convex sets, where a path in the graph corresponds to a contact sequence and a convex set models the quasi-static dynamics within a fixed contact mode. For each contact mode, we use semidefinite programming to relax the nonconvex dynamics that results from the simultaneous optimization of the o","authors_text":"Alexandre Amice, Bernhard Paus Graesdal, Pablo A. Parrilo, Russ Tedrake, Savva Morozov, Shao Yuan Chew Chia, Tobia Marcucci","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-15T20:25:28Z","title":"Towards Tight Convex Relaxations for Contact-Rich Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.10312","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":"sha256:39aeab2c4675eb471508af1068721876f8d6aaf68643a70d8ae3499db8446749","target":"record","created_at":"2026-07-05T08:40:13Z","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":"30d7d5ef9553c4892650408e8cc9d79e886ebe899959fe118f9ca73607e0eb9b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-15T20:25:28Z","title_canon_sha256":"ce07d56c88f1d68f4ecbae028bf480e7ce3387e9fff53bf74ece9793055c43b7"},"schema_version":"1.0","source":{"id":"2402.10312","kind":"arxiv","version":2}},"canonical_sha256":"91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f","first_computed_at":"2026-07-05T08:40:13.635929Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:40:13.635929Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i9gEoq+xbqPBxoj3LxZsDklJgjSVf+trIAWtuDcqcaW6ksUDvOZd6SuLz2WzRWHa9YMvJixBVfs2Jx8HIbzaBw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:40:13.636382Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.10312","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:39aeab2c4675eb471508af1068721876f8d6aaf68643a70d8ae3499db8446749","sha256:ad07cb010d13a1357a0b0ee9d6e3dd64a86e96a4e9b256f227f5265df1911b12"],"state_sha256":"bc1adf30966490f5711b672f52f1e13d7d8df63307ce8c659e740a23b6cb77f8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gvEOebnke1c7u+Lrv21wICEok+LUVTQZMGY/D46aTw3QEGckDQF8TH2IovoVMWXV1Z4MvfiIXUiD3ln1LWhMDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T02:57:41.187014Z","bundle_sha256":"7bf134523911d08d189a33a2e26e2ef71a737e8e225bec3d8801432b893beaf7"}}