{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WPVN75LXLYR2E37U5UFCPIYLWO","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":"8a0773b40a45c58ad43691e62e0091bbf64094dcfe34a60e11ad56a0d7e094dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-01T15:58:02Z","title_canon_sha256":"ceeee6f85a817b60c3769e345683772004f97e92cb71e5cdc249cf9fd6d45a6f"},"schema_version":"1.0","source":{"id":"2608.00730","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.00730","created_at":"2026-08-04T01:54:50Z"},{"alias_kind":"arxiv_version","alias_value":"2608.00730v1","created_at":"2026-08-04T01:54:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.00730","created_at":"2026-08-04T01:54:50Z"},{"alias_kind":"pith_short_12","alias_value":"WPVN75LXLYR2","created_at":"2026-08-04T01:54:50Z"},{"alias_kind":"pith_short_16","alias_value":"WPVN75LXLYR2E37U","created_at":"2026-08-04T01:54:50Z"},{"alias_kind":"pith_short_8","alias_value":"WPVN75LX","created_at":"2026-08-04T01:54:50Z"}],"graph_snapshots":[{"event_id":"sha256:5871e58c2a93f50c4f55e36a5ebae6d650e46f430f20b3fa25935fe83af517d0","target":"graph","created_at":"2026-08-04T01:54:50Z","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/2608.00730/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the stain, while scrubbing provides stronger friction but risks damaging the surface. In this paper, we propose Push-Wiper, a framework that reformulates viscous stain cleaning as an aggregation problem. Push-Wiper employs a sponge to progressively gather stains through segmented pushing trajectories, followed by a post-processing phase that detaches the aggregated material and enables sponge self-cleaning. We adopt a stepw","authors_text":"Chenyang Cao, Guoping Pan, Houde Liu, Kangkang Dong, Mingxin Wang, Renhao Lu, Yang Yang, Yi Cheng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-01T15:58:02Z","title":"Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.00730","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":"sha256:68cd867b63a449b745366dcc9846ebd7be78710f14927a434bd47b1deb4e78ba","target":"record","created_at":"2026-08-04T01:54:50Z","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":"8a0773b40a45c58ad43691e62e0091bbf64094dcfe34a60e11ad56a0d7e094dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-01T15:58:02Z","title_canon_sha256":"ceeee6f85a817b60c3769e345683772004f97e92cb71e5cdc249cf9fd6d45a6f"},"schema_version":"1.0","source":{"id":"2608.00730","kind":"arxiv","version":1}},"canonical_sha256":"b3eadff5775e23a26ff4ed0a27a30bb3a8e82b23657edccaddd7dc1d75d00761","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b3eadff5775e23a26ff4ed0a27a30bb3a8e82b23657edccaddd7dc1d75d00761","first_computed_at":"2026-08-04T01:54:50.294076Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-04T01:54:50.294076Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3Fty9COkNRW615SDY79BsUZV8s6l7UmiqYzz1uhEbh+C0e+vtc4Ngwv7LEHhmMaTO/GsAKHGQQv1YeREVJKaDA==","signature_status":"signed_v1","signed_at":"2026-08-04T01:54:50.295660Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.00730","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:68cd867b63a449b745366dcc9846ebd7be78710f14927a434bd47b1deb4e78ba","sha256:5871e58c2a93f50c4f55e36a5ebae6d650e46f430f20b3fa25935fe83af517d0"],"state_sha256":"6b0de54c1499160525ae4e14fc720bf93c5adaa29813112d51e2f0c78d9faf71"}