{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:SSZNWDVM2SEORDAOR65PYWLDNI","short_pith_number":"pith:SSZNWDVM","canonical_record":{"source":{"id":"2408.03498","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-07T01:37:34Z","cross_cats_sorted":[],"title_canon_sha256":"44f78b65601d642df6e211d49f8feafa2560c2b9eff1d299332d78b177224cfc","abstract_canon_sha256":"21063b1633522af0c3b674fac810be6a98f40b840f56905c553ffa5c73b6be54"},"schema_version":"1.0"},"canonical_sha256":"94b2db0eacd488e88c0e8fbafc59636a3f57fa92a01da26ee1d10b95ef3004e5","source":{"kind":"arxiv","id":"2408.03498","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.03498","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"arxiv_version","alias_value":"2408.03498v1","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.03498","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_12","alias_value":"SSZNWDVM2SEO","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_16","alias_value":"SSZNWDVM2SEORDAO","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_8","alias_value":"SSZNWDVM","created_at":"2026-07-05T08:52:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:SSZNWDVM2SEORDAOR65PYWLDNI","target":"record","payload":{"canonical_record":{"source":{"id":"2408.03498","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-07T01:37:34Z","cross_cats_sorted":[],"title_canon_sha256":"44f78b65601d642df6e211d49f8feafa2560c2b9eff1d299332d78b177224cfc","abstract_canon_sha256":"21063b1633522af0c3b674fac810be6a98f40b840f56905c553ffa5c73b6be54"},"schema_version":"1.0"},"canonical_sha256":"94b2db0eacd488e88c0e8fbafc59636a3f57fa92a01da26ee1d10b95ef3004e5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:52:59.358205Z","signature_b64":"EJalYAW3+TlS9q6rIIilePkGGEfS4MzVslQS0ZzGCnVkc8DUKVRpQsNeBTwuxlDWx057qhGl7OJr1/Dl789BAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"94b2db0eacd488e88c0e8fbafc59636a3f57fa92a01da26ee1d10b95ef3004e5","last_reissued_at":"2026-07-05T08:52:59.357716Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:52:59.357716Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2408.03498","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":"2026-07-05T08:52:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C+aujWh/QYECxXicxbgHk/C/2uJPSwx8dLNgf8g9Ta1g7JxRE6/5VXhKPpRzxg1NAAupb8SJWopzz3IFsmh1AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T16:18:49.316757Z"},"content_sha256":"a09ea9c0fe4589823205f1ee46d33cc7087089f8d3c3c2b0add1eb3f481c7780","schema_version":"1.0","event_id":"sha256:a09ea9c0fe4589823205f1ee46d33cc7087089f8d3c3c2b0add1eb3f481c7780"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:SSZNWDVM2SEORDAOR65PYWLDNI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew Bylard, Jee-eun Lee, Luis Sentis, Robert Sun","submitted_at":"2024-08-07T01:37:34Z","abstract_excerpt":"Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However, most existing works focus on using one or two suction cups to grasp only irregularly shaped but light objects. There is a lack of research on robust manipulation of heavy objects using larger arrays of suction cups, which introduces challenges in modeling and predicting grasp failure. This paper presents a general approach to modeling grasp strength in mult"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.03498","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/2408.03498/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":"2026-07-05T08:52:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9ugk5/HWlHZDvf5vD2Or7Wt4cvZCx0LCnlMN46fggcmj7bnhhtXPD5TEjIk/2AaRgO9ngsB12f0m+vTzAPg+Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T16:18:49.318154Z"},"content_sha256":"480d0b6815d16fb8365e5fbe81f5296665133260b2c835eee8ebf2a487a79625","schema_version":"1.0","event_id":"sha256:480d0b6815d16fb8365e5fbe81f5296665133260b2c835eee8ebf2a487a79625"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SSZNWDVM2SEORDAOR65PYWLDNI/bundle.json","state_url":"https://pith.science/pith/SSZNWDVM2SEORDAOR65PYWLDNI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SSZNWDVM2SEORDAOR65PYWLDNI/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":"2026-08-11T16:18:49Z","links":{"resolver":"https://pith.science/pith/SSZNWDVM2SEORDAOR65PYWLDNI","bundle":"https://pith.science/pith/SSZNWDVM2SEORDAOR65PYWLDNI/bundle.json","state":"https://pith.science/pith/SSZNWDVM2SEORDAOR65PYWLDNI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SSZNWDVM2SEORDAOR65PYWLDNI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:SSZNWDVM2SEORDAOR65PYWLDNI","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":"21063b1633522af0c3b674fac810be6a98f40b840f56905c553ffa5c73b6be54","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-07T01:37:34Z","title_canon_sha256":"44f78b65601d642df6e211d49f8feafa2560c2b9eff1d299332d78b177224cfc"},"schema_version":"1.0","source":{"id":"2408.03498","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.03498","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"arxiv_version","alias_value":"2408.03498v1","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.03498","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_12","alias_value":"SSZNWDVM2SEO","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_16","alias_value":"SSZNWDVM2SEORDAO","created_at":"2026-07-05T08:52:59Z"},{"alias_kind":"pith_short_8","alias_value":"SSZNWDVM","created_at":"2026-07-05T08:52:59Z"}],"graph_snapshots":[{"event_id":"sha256:480d0b6815d16fb8365e5fbe81f5296665133260b2c835eee8ebf2a487a79625","target":"graph","created_at":"2026-07-05T08:52:59Z","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/2408.03498/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However, most existing works focus on using one or two suction cups to grasp only irregularly shaped but light objects. There is a lack of research on robust manipulation of heavy objects using larger arrays of suction cups, which introduces challenges in modeling and predicting grasp failure. This paper presents a general approach to modeling grasp strength in mult","authors_text":"Andrew Bylard, Jee-eun Lee, Luis Sentis, Robert Sun","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-07T01:37:34Z","title":"Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.03498","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:a09ea9c0fe4589823205f1ee46d33cc7087089f8d3c3c2b0add1eb3f481c7780","target":"record","created_at":"2026-07-05T08:52:59Z","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":"21063b1633522af0c3b674fac810be6a98f40b840f56905c553ffa5c73b6be54","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-07T01:37:34Z","title_canon_sha256":"44f78b65601d642df6e211d49f8feafa2560c2b9eff1d299332d78b177224cfc"},"schema_version":"1.0","source":{"id":"2408.03498","kind":"arxiv","version":1}},"canonical_sha256":"94b2db0eacd488e88c0e8fbafc59636a3f57fa92a01da26ee1d10b95ef3004e5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"94b2db0eacd488e88c0e8fbafc59636a3f57fa92a01da26ee1d10b95ef3004e5","first_computed_at":"2026-07-05T08:52:59.357716Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:52:59.357716Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EJalYAW3+TlS9q6rIIilePkGGEfS4MzVslQS0ZzGCnVkc8DUKVRpQsNeBTwuxlDWx057qhGl7OJr1/Dl789BAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:52:59.358205Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.03498","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a09ea9c0fe4589823205f1ee46d33cc7087089f8d3c3c2b0add1eb3f481c7780","sha256:480d0b6815d16fb8365e5fbe81f5296665133260b2c835eee8ebf2a487a79625"],"state_sha256":"b52b860d1184cae1566195437cc6b150116880f8b78ca995c487f06450681ede"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RZJMB/i40rUgjzrnDZMi7XEh+CEghRQFQkzNUzdH7gvRM9II31yBEP8mrVPtDsd2GAnjyZHgtpQnWyq/ahiHAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T16:18:49.325186Z","bundle_sha256":"36fa19ad0e6b45dd38c874cb94df18f48ef68e81c34e8b872de3fc3ceed2066c"}}