{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WFJFRSO7ID3ZME2YNWFGUHKPQN","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":"c00714d8295a03ce5d462b75f27f296f813439c70347a3979213a035eb4fb4cd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T12:46:27Z","title_canon_sha256":"a86dce07e9b8c007e600296d6a866d512147aaf89adfe05f2feb320d95de5365"},"schema_version":"1.0","source":{"id":"2607.17898","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.17898","created_at":"2026-07-21T02:22:05Z"},{"alias_kind":"arxiv_version","alias_value":"2607.17898v1","created_at":"2026-07-21T02:22:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.17898","created_at":"2026-07-21T02:22:05Z"},{"alias_kind":"pith_short_12","alias_value":"WFJFRSO7ID3Z","created_at":"2026-07-21T02:22:05Z"},{"alias_kind":"pith_short_16","alias_value":"WFJFRSO7ID3ZME2Y","created_at":"2026-07-21T02:22:05Z"},{"alias_kind":"pith_short_8","alias_value":"WFJFRSO7","created_at":"2026-07-21T02:22:05Z"}],"graph_snapshots":[{"event_id":"sha256:344d451e9b011666c9656e72990d8a4971a99c3361e0c7dcb74344ffc0aa4c1f","target":"graph","created_at":"2026-07-21T02:22:05Z","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/2607.17898/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion planning for rigid-body assembly poses a fundamental challenge in robotics due to tight geometric constraints. In such scenarios, feasible motions often require passing through (near-)zero clearance configurations in which the parts are tightly constrained by contact. In this work, we introduce Critical-Manifold Guided RRT (CMG-RRT), a sampling-based planner designed specifically for tight assembly problems. Our key observation is that in tight assemblies, valid solution paths lie on or near a critical manifold: the subset of configuration space consisting of poses with at least one con","authors_text":"Dan Halperin, Dror Livnat, Michael M. Bilevich, Michal Kleinbort","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T12:46:27Z","title":"Manifold-Guided Motion Planning for Tight Assemblies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.17898","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":"sha256:1dba773625e9a152cf844c83869f783ac0282503b773579841fe22de2936ce02","target":"record","created_at":"2026-07-21T02:22:05Z","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":"c00714d8295a03ce5d462b75f27f296f813439c70347a3979213a035eb4fb4cd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T12:46:27Z","title_canon_sha256":"a86dce07e9b8c007e600296d6a866d512147aaf89adfe05f2feb320d95de5365"},"schema_version":"1.0","source":{"id":"2607.17898","kind":"arxiv","version":1}},"canonical_sha256":"b15258c9df40f79613586d8a6a1d4f835b60c5d2581c029a5a5f18ac8f7ddb8d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b15258c9df40f79613586d8a6a1d4f835b60c5d2581c029a5a5f18ac8f7ddb8d","first_computed_at":"2026-07-21T02:22:05.589336Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T02:22:05.589336Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nXphNKejC+YOLSZ+dfAL0nwlCm28jW064pTk4wd5r++PFTwN2vuBZ0SD9anYI7Uqkb4eyO3E6VUy0cplfu8ZCw==","signature_status":"signed_v1","signed_at":"2026-07-21T02:22:05.590146Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.17898","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1dba773625e9a152cf844c83869f783ac0282503b773579841fe22de2936ce02","sha256:344d451e9b011666c9656e72990d8a4971a99c3361e0c7dcb74344ffc0aa4c1f"],"state_sha256":"bbb7544fe217cfcbf606e66d8a733a642ac667bcf41c92011390247c03950248"}