{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:7IPPQZLO5CVLLGV6KPYEWD6QA7","short_pith_number":"pith:7IPPQZLO","canonical_record":{"source":{"id":"2005.09127","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-18T22:55:50Z","cross_cats_sorted":[],"title_canon_sha256":"32bff7eacb07bbce17443ff870aa4954729e2e5fc1496cedc4d8e2e49c840e85","abstract_canon_sha256":"97af17ecaf8dac2a30989c8bfe93f979f92b230b367a9c95f9c781e1c9beea71"},"schema_version":"1.0"},"canonical_sha256":"fa1ef8656ee8aab59abe53f04b0fd007cc65b9780966178dd745bdb739208e2e","source":{"kind":"arxiv","id":"2005.09127","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.09127","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"arxiv_version","alias_value":"2005.09127v1","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.09127","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_12","alias_value":"7IPPQZLO5CVL","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_16","alias_value":"7IPPQZLO5CVLLGV6","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_8","alias_value":"7IPPQZLO","created_at":"2026-07-05T03:49:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:7IPPQZLO5CVLLGV6KPYEWD6QA7","target":"record","payload":{"canonical_record":{"source":{"id":"2005.09127","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-18T22:55:50Z","cross_cats_sorted":[],"title_canon_sha256":"32bff7eacb07bbce17443ff870aa4954729e2e5fc1496cedc4d8e2e49c840e85","abstract_canon_sha256":"97af17ecaf8dac2a30989c8bfe93f979f92b230b367a9c95f9c781e1c9beea71"},"schema_version":"1.0"},"canonical_sha256":"fa1ef8656ee8aab59abe53f04b0fd007cc65b9780966178dd745bdb739208e2e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:49:58.277571Z","signature_b64":"QVKHAGtS6R0iQGDo+CXR62EiHQ8mOLe+pi3F/zNTGoQ/AjJdLQSEmm3bptF+czRYrpf/wt/oP1KFoFiw+M4DCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa1ef8656ee8aab59abe53f04b0fd007cc65b9780966178dd745bdb739208e2e","last_reissued_at":"2026-07-05T03:49:58.277196Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:49:58.277196Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.09127","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":"2026-07-05T03:49:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jujECRL8jHU2r8ko5PqOEJqRckymm0/Mq9WG8hy8d1H1zRxWVjEbSsWQWiCZM8Uozlx45AC001Lr135Bw/kBAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T14:07:09.069330Z"},"content_sha256":"e2b0673a7f3abcca084bf01c631687868ae7fdd1805658ea4226ebe61d9f447c","schema_version":"1.0","event_id":"sha256:e2b0673a7f3abcca084bf01c631687868ae7fdd1805658ea4226ebe61d9f447c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:7IPPQZLO5CVLLGV6KPYEWD6QA7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kostas E. Bekris, Rahul Shome","submitted_at":"2020-05-18T22:55:50Z","abstract_excerpt":"Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions including object placements, and handoffs. The current work identifies a useful connection between multi-arm rearrangement and recent results in multi-body path planning on graphs with vertex capacity constraints. Solving a synchronized multi-arm rearrangement at a high-level involves reasoning over a modal graph, where nodes correspond to stable object place"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.09127","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/2005.09127/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":"2026-07-05T03:49:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G77ezLsSvI0GRjcYcb5GkQ8gBKB88SQe7KXSd3mctk1EyrtaEAiYXPu1iHMFRKG2V16M0vPcvbpwET2uThVQDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T14:07:09.069834Z"},"content_sha256":"b1afbecf35e24875b447dc109b2748e51c9f2f50fc4ff069b7b44e646d63aa99","schema_version":"1.0","event_id":"sha256:b1afbecf35e24875b447dc109b2748e51c9f2f50fc4ff069b7b44e646d63aa99"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/bundle.json","state_url":"https://pith.science/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/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":"2026-08-12T14:07:09Z","links":{"resolver":"https://pith.science/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7","bundle":"https://pith.science/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/bundle.json","state":"https://pith.science/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7IPPQZLO5CVLLGV6KPYEWD6QA7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:7IPPQZLO5CVLLGV6KPYEWD6QA7","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":"97af17ecaf8dac2a30989c8bfe93f979f92b230b367a9c95f9c781e1c9beea71","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-18T22:55:50Z","title_canon_sha256":"32bff7eacb07bbce17443ff870aa4954729e2e5fc1496cedc4d8e2e49c840e85"},"schema_version":"1.0","source":{"id":"2005.09127","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.09127","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"arxiv_version","alias_value":"2005.09127v1","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.09127","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_12","alias_value":"7IPPQZLO5CVL","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_16","alias_value":"7IPPQZLO5CVLLGV6","created_at":"2026-07-05T03:49:58Z"},{"alias_kind":"pith_short_8","alias_value":"7IPPQZLO","created_at":"2026-07-05T03:49:58Z"}],"graph_snapshots":[{"event_id":"sha256:b1afbecf35e24875b447dc109b2748e51c9f2f50fc4ff069b7b44e646d63aa99","target":"graph","created_at":"2026-07-05T03:49:58Z","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/2005.09127/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions including object placements, and handoffs. The current work identifies a useful connection between multi-arm rearrangement and recent results in multi-body path planning on graphs with vertex capacity constraints. Solving a synchronized multi-arm rearrangement at a high-level involves reasoning over a modal graph, where nodes correspond to stable object place","authors_text":"Kostas E. Bekris, Rahul Shome","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-18T22:55:50Z","title":"Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.09127","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:e2b0673a7f3abcca084bf01c631687868ae7fdd1805658ea4226ebe61d9f447c","target":"record","created_at":"2026-07-05T03:49:58Z","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":"97af17ecaf8dac2a30989c8bfe93f979f92b230b367a9c95f9c781e1c9beea71","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-18T22:55:50Z","title_canon_sha256":"32bff7eacb07bbce17443ff870aa4954729e2e5fc1496cedc4d8e2e49c840e85"},"schema_version":"1.0","source":{"id":"2005.09127","kind":"arxiv","version":1}},"canonical_sha256":"fa1ef8656ee8aab59abe53f04b0fd007cc65b9780966178dd745bdb739208e2e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa1ef8656ee8aab59abe53f04b0fd007cc65b9780966178dd745bdb739208e2e","first_computed_at":"2026-07-05T03:49:58.277196Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:49:58.277196Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QVKHAGtS6R0iQGDo+CXR62EiHQ8mOLe+pi3F/zNTGoQ/AjJdLQSEmm3bptF+czRYrpf/wt/oP1KFoFiw+M4DCg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:49:58.277571Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.09127","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e2b0673a7f3abcca084bf01c631687868ae7fdd1805658ea4226ebe61d9f447c","sha256:b1afbecf35e24875b447dc109b2748e51c9f2f50fc4ff069b7b44e646d63aa99"],"state_sha256":"f47e4c2216984ae979997a74aa0092771d188732a73148ea48bee96c21c21fa5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xnreiQIk9W7gtp8ycXCQihAcvA21o9UZspTx4t7+Ej8BRjAXkzkvnjEBiky7mjqm9SdCvtT0MeC2Y2SuzCqxBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T14:07:09.074224Z","bundle_sha256":"72bf5c8c9388a36e0330e0d53f07db1ef56af0b0b6259885e96d5a65cebd6d64"}}