{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:XHJOCIVIJFZ54BMBGPTYEWQNG2","short_pith_number":"pith:XHJOCIVI","canonical_record":{"source":{"id":"2210.03442","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","cross_cats_sorted":[],"title_canon_sha256":"a1b4be093121475b8be5a417663407e50092c3bf2956fb6a55a6637f5daea3f9","abstract_canon_sha256":"ce2a94f9814105b81672bc8ec4904ed28108629402a04f8227c3edcba9fb949a"},"schema_version":"1.0"},"canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","source":{"kind":"arxiv","id":"2210.03442","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.03442","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"arxiv_version","alias_value":"2210.03442v1","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.03442","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_12","alias_value":"XHJOCIVIJFZ5","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_16","alias_value":"XHJOCIVIJFZ54BMB","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_8","alias_value":"XHJOCIVI","created_at":"2026-07-05T05:04:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:XHJOCIVIJFZ54BMBGPTYEWQNG2","target":"record","payload":{"canonical_record":{"source":{"id":"2210.03442","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","cross_cats_sorted":[],"title_canon_sha256":"a1b4be093121475b8be5a417663407e50092c3bf2956fb6a55a6637f5daea3f9","abstract_canon_sha256":"ce2a94f9814105b81672bc8ec4904ed28108629402a04f8227c3edcba9fb949a"},"schema_version":"1.0"},"canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:04:20.251498Z","signature_b64":"LZKTqDOEanVuOzpL66SrQwCB3mmgvppIfDFqXsOHHvQGxdS9g8zuXFKHD3uSeShMNlH52GU/YcwRZjNlEEuxBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","last_reissued_at":"2026-07-05T05:04:20.251032Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:04:20.251032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.03442","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":"2026-07-05T05:04:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"t368B9+LMOEqrBVcwThUujGv/Ox4fPOsymKZydm+DGXpuOXxIMlvEeBxMEWVx8wIM003q2xYM0W1XdoVS1H4BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:39:11.117128Z"},"content_sha256":"0599fccc8ff6f6c9c2eb546b87dce01970e0d61e9d910e973969a5a56aacad3b","schema_version":"1.0","event_id":"sha256:0599fccc8ff6f6c9c2eb546b87dce01970e0d61e9d910e973969a5a56aacad3b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:XHJOCIVIJFZ54BMBGPTYEWQNG2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rigo, Quan Nguyen, Satyandra K. Gupta, Yiyu Chen","submitted_at":"2022-10-07T10:22:51Z","abstract_excerpt":"Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing, to drive the object to the desired location. In this paper, we present a novel hierarchical model predictive control (MPC) for contact optimization of the manipulation task. Using two cascading MPCs, we split the loco-manipulation problem into two parts: the first to optimize both contact force and contact location between the robot and the object, and the se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.03442","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/2210.03442/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":"2026-07-05T05:04:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PwmmTUF0PhJIrRaUNQp6fo/oJ9CO/eGWu6tmpKpRDnMKp1KiJu3OHql8kibezIwQPWS+CDIk2Yk1HZYI3Vx2DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:39:11.117975Z"},"content_sha256":"d39d0c5cee1ca3bdc83c2e7829e1e87a520f23961584d3f758aa1c6005b3f733","schema_version":"1.0","event_id":"sha256:d39d0c5cee1ca3bdc83c2e7829e1e87a520f23961584d3f758aa1c6005b3f733"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/bundle.json","state_url":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/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":"2026-08-05T11:39:11Z","links":{"resolver":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2","bundle":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/bundle.json","state":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:XHJOCIVIJFZ54BMBGPTYEWQNG2","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":"ce2a94f9814105b81672bc8ec4904ed28108629402a04f8227c3edcba9fb949a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","title_canon_sha256":"a1b4be093121475b8be5a417663407e50092c3bf2956fb6a55a6637f5daea3f9"},"schema_version":"1.0","source":{"id":"2210.03442","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.03442","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"arxiv_version","alias_value":"2210.03442v1","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.03442","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_12","alias_value":"XHJOCIVIJFZ5","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_16","alias_value":"XHJOCIVIJFZ54BMB","created_at":"2026-07-05T05:04:20Z"},{"alias_kind":"pith_short_8","alias_value":"XHJOCIVI","created_at":"2026-07-05T05:04:20Z"}],"graph_snapshots":[{"event_id":"sha256:d39d0c5cee1ca3bdc83c2e7829e1e87a520f23961584d3f758aa1c6005b3f733","target":"graph","created_at":"2026-07-05T05:04:20Z","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/2210.03442/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing, to drive the object to the desired location. In this paper, we present a novel hierarchical model predictive control (MPC) for contact optimization of the manipulation task. Using two cascading MPCs, we split the loco-manipulation problem into two parts: the first to optimize both contact force and contact location between the robot and the object, and the se","authors_text":"Alberto Rigo, Quan Nguyen, Satyandra K. Gupta, Yiyu Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","title":"Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.03442","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":"sha256:0599fccc8ff6f6c9c2eb546b87dce01970e0d61e9d910e973969a5a56aacad3b","target":"record","created_at":"2026-07-05T05:04:20Z","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":"ce2a94f9814105b81672bc8ec4904ed28108629402a04f8227c3edcba9fb949a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","title_canon_sha256":"a1b4be093121475b8be5a417663407e50092c3bf2956fb6a55a6637f5daea3f9"},"schema_version":"1.0","source":{"id":"2210.03442","kind":"arxiv","version":1}},"canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","first_computed_at":"2026-07-05T05:04:20.251032Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:04:20.251032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LZKTqDOEanVuOzpL66SrQwCB3mmgvppIfDFqXsOHHvQGxdS9g8zuXFKHD3uSeShMNlH52GU/YcwRZjNlEEuxBA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:04:20.251498Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.03442","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0599fccc8ff6f6c9c2eb546b87dce01970e0d61e9d910e973969a5a56aacad3b","sha256:d39d0c5cee1ca3bdc83c2e7829e1e87a520f23961584d3f758aa1c6005b3f733"],"state_sha256":"e26938e03b3dc0dec1245eb06d80256791643e51466e56954009feaf1c1f847b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5DAZcafXlOrN+tdAynQQuNGY0G9p8ZZ83NRNZiaBJB0DSOCrEZHZIzOGAfmjgA1U3m3p1JaRIPAl/eLiuuZQBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T11:39:11.132449Z","bundle_sha256":"25b209489081248f10b121923d7d4956b83203c27769a2b3cf965caf534ef5f0"}}