{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:X4DYAZO62Q46CNASWBWFIVBTPQ","short_pith_number":"pith:X4DYAZO6","schema_version":"1.0","canonical_sha256":"bf078065ded439e13412b06c5454337c02976c1e5606fb7d6cd116bff073c414","source":{"kind":"arxiv","id":"1805.03005","version":4},"attestation_state":"computed","paper":{"title":"Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mehmet R. Dogar, Wisdom C. Agboh","submitted_at":"2018-05-08T13:31:37Z","abstract_excerpt":"We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires high accuracy, and by speeding up and moving fast when the task tolerates inaccuracy. We formulate the problem as an MDP with action-dependent stochasticity and propose an approximate online solution to it. We use a trajectory optimizer with a deterministic model to suggest promising actions to the MDP, to reduce computation time spent on evaluating different"},"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":"1805.03005","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-08T13:31:37Z","cross_cats_sorted":[],"title_canon_sha256":"e205bba5a451181478d7d84b9fe1b989a8c78727ea796ef826840d60b46f8579","abstract_canon_sha256":"18e13495bc06289eb2c7533b85f002a0bb4acd5d266bce1f7c42852c46420f52"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:55:58.837205Z","signature_b64":"0OtXplTauJunAhWFrHY94xKRZYndWmMpm78imd79U8fD0e4tuhR31Jf0Pcd/Xin7lLjAehr2xPgbz/I+Em7MCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bf078065ded439e13412b06c5454337c02976c1e5606fb7d6cd116bff073c414","last_reissued_at":"2026-05-17T23:55:58.836474Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:55:58.836474Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mehmet R. Dogar, Wisdom C. Agboh","submitted_at":"2018-05-08T13:31:37Z","abstract_excerpt":"We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires high accuracy, and by speeding up and moving fast when the task tolerates inaccuracy. We formulate the problem as an MDP with action-dependent stochasticity and propose an approximate online solution to it. We use a trajectory optimizer with a deterministic model to suggest promising actions to the MDP, to reduce computation time spent on evaluating different"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.03005","kind":"arxiv","version":4},"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":"1805.03005","created_at":"2026-05-17T23:55:58.836591+00:00"},{"alias_kind":"arxiv_version","alias_value":"1805.03005v4","created_at":"2026-05-17T23:55:58.836591+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.03005","created_at":"2026-05-17T23:55:58.836591+00:00"},{"alias_kind":"pith_short_12","alias_value":"X4DYAZO62Q46","created_at":"2026-05-18T12:33:01.666342+00:00"},{"alias_kind":"pith_short_16","alias_value":"X4DYAZO62Q46CNAS","created_at":"2026-05-18T12:33:01.666342+00:00"},{"alias_kind":"pith_short_8","alias_value":"X4DYAZO6","created_at":"2026-05-18T12:33:01.666342+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/X4DYAZO62Q46CNASWBWFIVBTPQ","json":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ.json","graph_json":"https://pith.science/api/pith-number/X4DYAZO62Q46CNASWBWFIVBTPQ/graph.json","events_json":"https://pith.science/api/pith-number/X4DYAZO62Q46CNASWBWFIVBTPQ/events.json","paper":"https://pith.science/paper/X4DYAZO6"},"agent_actions":{"view_html":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ","download_json":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ.json","view_paper":"https://pith.science/paper/X4DYAZO6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1805.03005&json=true","fetch_graph":"https://pith.science/api/pith-number/X4DYAZO62Q46CNASWBWFIVBTPQ/graph.json","fetch_events":"https://pith.science/api/pith-number/X4DYAZO62Q46CNASWBWFIVBTPQ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ/action/storage_attestation","attest_author":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ/action/author_attestation","sign_citation":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ/action/citation_signature","submit_replication":"https://pith.science/pith/X4DYAZO62Q46CNASWBWFIVBTPQ/action/replication_record"}},"created_at":"2026-05-17T23:55:58.836591+00:00","updated_at":"2026-05-17T23:55:58.836591+00:00"}