{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:ZMZTQ2ZPMS7MP6K34KREOCYV36","short_pith_number":"pith:ZMZTQ2ZP","canonical_record":{"source":{"id":"2307.00206","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-01T03:13:17Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"67ddf6bfa67d5b19cfd0f0b84526a456dfb273844abeed209aba0ee4256c9cd7","abstract_canon_sha256":"4b36cc2388544414176edb29b1c566b6aef2e829935739dea676ea3200db2308"},"schema_version":"1.0"},"canonical_sha256":"cb33386b2f64bec7f95be2a2470b15dfb65b8bc9c43e6c95bf82160353780cf7","source":{"kind":"arxiv","id":"2307.00206","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.00206","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"arxiv_version","alias_value":"2307.00206v2","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.00206","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_12","alias_value":"ZMZTQ2ZPMS7M","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_16","alias_value":"ZMZTQ2ZPMS7MP6K3","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_8","alias_value":"ZMZTQ2ZP","created_at":"2026-07-05T06:47:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:ZMZTQ2ZPMS7MP6K34KREOCYV36","target":"record","payload":{"canonical_record":{"source":{"id":"2307.00206","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-01T03:13:17Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"67ddf6bfa67d5b19cfd0f0b84526a456dfb273844abeed209aba0ee4256c9cd7","abstract_canon_sha256":"4b36cc2388544414176edb29b1c566b6aef2e829935739dea676ea3200db2308"},"schema_version":"1.0"},"canonical_sha256":"cb33386b2f64bec7f95be2a2470b15dfb65b8bc9c43e6c95bf82160353780cf7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:47:24.457587Z","signature_b64":"eDFYiDtBRhe6y332Ha04EQx8hyzXumCOeYO6C/0UOElPpqE9E+UkjkrXb+B7RPtjlR/IQ4Kcm5QuW9wdhg0xCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cb33386b2f64bec7f95be2a2470b15dfb65b8bc9c43e6c95bf82160353780cf7","last_reissued_at":"2026-07-05T06:47:24.457048Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:47:24.457048Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2307.00206","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:47:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a05sAif2H3lyRvwnHl8XI4IS1zs8Ui2hQfALOc2cn1k2qQ3ISEbXBpmgYNBGRgMgdhv3tl+BdaCWPBzk5FzhCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T12:48:58.983730Z"},"content_sha256":"07457ed6cc28b08d5ba415ec630c438ef860260371ce82f0aa8763225b953c80","schema_version":"1.0","event_id":"sha256:07457ed6cc28b08d5ba415ec630c438ef860260371ce82f0aa8763225b953c80"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:ZMZTQ2ZPMS7MP6K34KREOCYV36","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Rearrangement Planning for General Part Assembly","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Andy Zeng, Shuran Song, Yulong Li","submitted_at":"2023-07-01T03:13:17Z","abstract_excerpt":"Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to a general part assembly system, we tackle the task of determining the precise poses of the parts in the target assembly, which we we term ``rearrangement planning''. We present General Part Assembly Transformer (GPAT), a transformer-based model architecture that accurately predicts part poses by inferring how each part shape corresponds to the target shape."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.00206","kind":"arxiv","version":2},"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/2307.00206/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":"2026-07-05T06:47:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1brRWWgztuJB7fEM7xAMQrW3LnLJXZa1sUw3vNqz2WvbIgX/w/HjXf8YQmV82e6znhQUQOk83xRht10OM6v/BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T12:48:58.984114Z"},"content_sha256":"bb381a366d4a967183bf7845d78f678b034afbfb2cd2363285f9b307dffed115","schema_version":"1.0","event_id":"sha256:bb381a366d4a967183bf7845d78f678b034afbfb2cd2363285f9b307dffed115"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/bundle.json","state_url":"https://pith.science/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/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":"2026-07-05T12:48:58Z","links":{"resolver":"https://pith.science/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36","bundle":"https://pith.science/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/bundle.json","state":"https://pith.science/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZMZTQ2ZPMS7MP6K34KREOCYV36/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:ZMZTQ2ZPMS7MP6K34KREOCYV36","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":"4b36cc2388544414176edb29b1c566b6aef2e829935739dea676ea3200db2308","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-01T03:13:17Z","title_canon_sha256":"67ddf6bfa67d5b19cfd0f0b84526a456dfb273844abeed209aba0ee4256c9cd7"},"schema_version":"1.0","source":{"id":"2307.00206","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.00206","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"arxiv_version","alias_value":"2307.00206v2","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.00206","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_12","alias_value":"ZMZTQ2ZPMS7M","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_16","alias_value":"ZMZTQ2ZPMS7MP6K3","created_at":"2026-07-05T06:47:24Z"},{"alias_kind":"pith_short_8","alias_value":"ZMZTQ2ZP","created_at":"2026-07-05T06:47:24Z"}],"graph_snapshots":[{"event_id":"sha256:bb381a366d4a967183bf7845d78f678b034afbfb2cd2363285f9b307dffed115","target":"graph","created_at":"2026-07-05T06:47:24Z","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/2307.00206/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to a general part assembly system, we tackle the task of determining the precise poses of the parts in the target assembly, which we we term ``rearrangement planning''. We present General Part Assembly Transformer (GPAT), a transformer-based model architecture that accurately predicts part poses by inferring how each part shape corresponds to the target shape.","authors_text":"Andy Zeng, Shuran Song, Yulong Li","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-01T03:13:17Z","title":"Rearrangement Planning for General Part Assembly"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.00206","kind":"arxiv","version":2},"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":"sha256:07457ed6cc28b08d5ba415ec630c438ef860260371ce82f0aa8763225b953c80","target":"record","created_at":"2026-07-05T06:47:24Z","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":"4b36cc2388544414176edb29b1c566b6aef2e829935739dea676ea3200db2308","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-07-01T03:13:17Z","title_canon_sha256":"67ddf6bfa67d5b19cfd0f0b84526a456dfb273844abeed209aba0ee4256c9cd7"},"schema_version":"1.0","source":{"id":"2307.00206","kind":"arxiv","version":2}},"canonical_sha256":"cb33386b2f64bec7f95be2a2470b15dfb65b8bc9c43e6c95bf82160353780cf7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cb33386b2f64bec7f95be2a2470b15dfb65b8bc9c43e6c95bf82160353780cf7","first_computed_at":"2026-07-05T06:47:24.457048Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:47:24.457048Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eDFYiDtBRhe6y332Ha04EQx8hyzXumCOeYO6C/0UOElPpqE9E+UkjkrXb+B7RPtjlR/IQ4Kcm5QuW9wdhg0xCA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:47:24.457587Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.00206","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:07457ed6cc28b08d5ba415ec630c438ef860260371ce82f0aa8763225b953c80","sha256:bb381a366d4a967183bf7845d78f678b034afbfb2cd2363285f9b307dffed115"],"state_sha256":"a15c77a1e0f8cca93954513080b7d72243ed2aae53706ebe0c106080bdcc4027"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UzvGtiu7MyIOwbK/ZNNzIm+7LPL7yWNXcf+yx33Yk1AjIR2C8ki9tGXkfv/HhCq0iriRen01KcVGiQc4U/PbDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T12:48:58.986350Z","bundle_sha256":"8478560af6401b971b2f585520e11eeb4711f5e4e188710796b6dd6d376df120"}}