{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_441c3e15fcd2e1ec5d5128980fa9cb95bca413ca05f2ad33655548db1dc81491","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_441c3e15fcd2e1ec5d5128980fa9cb95bca413ca05f2ad33655548db1dc81491","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"7d63dfeae0c56587db9f1e52657dde772ad89c7b2ebd5f121b33eba841fd67de","published":"Fri, 29 May 2026 00:00:00 -0400","receipt_hash":"7d63dfeae0c56587db9f1e52657dde772ad89c7b2ebd5f121b33eba841fd67de","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"7d63dfeae0c56587db9f1e52657dde772ad89c7b2ebd5f121b33eba841fd67de","observed_at":"2026-05-29T04:43:58.478092Z","parent_run_hash":"0fcd87efcfe67ccb9952f747541debc16793919a4d20fd71ca0ad5516a0a13ee","published":"Fri, 29 May 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2511.04758v2 Announce Type: replace-cross \nAbstract: Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid discrete-continuous action space. Task and Motion Planning (TAMP) algorithms can efficiently plan in hybrid spaces but generally produce plans, where only one arm is moving at a time, rather than schedules that allow for parallel arm motion. In order to extend TAMP to produce schedules, we present ScheduleStream, the first general-purpose framework for planning & scheduling with sampling operations. ScheduleStream models temporal dynamics using hybrid durative actions, which can be started asynchronously and persist for a duration that's a function of their parameters. We propose domain-independent algorithms that solve ScheduleStream problems without any application-specific mechanisms. We","title":"ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling","url":"https://arxiv.org/abs/2511.04758","vendor":"arxiv_cs_ai"},"summary":"arXiv:2511.04758v2 Announce Type: replace-cross \nAbstract: Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid discrete-continuous action space. Task and Motion Planning (TAMP) algorithms can efficiently plan in hybrid spaces but generally produce plans, where only one arm is moving at a time, rather than schedules that allow for parallel arm motion. In order to extend TAMP to produce schedules, we present ScheduleStream, the first general-purpose framework for planning & scheduling with sampling operations. ScheduleStream models temporal dynamics using hybrid durative actions, which can be started asynchronously and persist for a duration that's a function of their parameters. We propose domain-independent algorithms that solve ScheduleStream problems without any application-specific mechanisms. We","title":"ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-29T04:43:58Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2511.04758"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:a41758f5c60828fe7c2b3a0fb40f1f5831695610b555841a19a1359f4343ede89f2779f644a02c542a354a6f567bd79b4345c66e1cbd3d8b0db0f8372d85cd0d","signer":"crovia.substrate","subject":{"observed_at":"2026-05-29T04:43:58Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2511.04758"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"5b915305fab8e680faff5b84ea2de77bf2555d8334ad7554b12796b99724af3e","leaf_index":158093,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"c867c82d880f47ccba88de9d44cdcca72b03baa336226b9b6db3e6eaf378aa35","side":"left"},{"sibling":"393eff6ab585b3d4d2daaa00f0eb9de6280a54ce74d761638a2c9f0d543c4701","side":"right"},{"sibling":"2cb0650df0d4ab2c65f2cd02add4b9267928ead30b50eab0fbb21a2052ba1a73","side":"left"},{"sibling":"1b94bee032882f8825b48fcc4be8b25d760f66cc74870d987927c61853573075","side":"left"},{"sibling":"1db6ee1b844c693165ccc6c3864ccc34458ec09c391bf035931731913117bd52","side":"right"},{"sibling":"796de9dd6ef901ab3e49311279a21042b8f2cfbb09b2fbb767544159218def9b","side":"right"},{"sibling":"62988561fabfe452383ec872bd31f27e80fe019c13c67e0ef3aed8f206215007","side":"right"},{"sibling":"463d4726f68bda2bbf724c72553fd53d88ea99a3d4a713f9b8a1b2d9fde12933","side":"left"},{"sibling":"002471ff5893cd2a2890119cbfe4a9456bfb46cf31fa6aee377650afe6ae0c92","side":"left"},{"sibling":"1dcc44e23fbb0218b13591e4b584eca3600dcf365769cb741e0ecd33b25b8c56","side":"right"},{"sibling":"fcf16a6f44025801f5b83e928acce764352ddbc06ae3043d8cde9a409933e6d8","side":"right"},{"sibling":"78982294dee68f9db9288c64d7e507c7865fda96e1b6f7ccff5c8bb152e93c49","side":"left"},{"sibling":"995b421824624a8282c7f44e64c64ee35344800f477ae1845b41be14d3fab94c","side":"right"},{"sibling":"66331bac84ca0f8983eb09fac7eaf95af234f1b82680b793eabff4ee25caac40","side":"left"},{"sibling":"35ca36cee447f0ef7064a25d55f59357c66901e31427729c4c1d8b14aa8adb6c","side":"left"},{"sibling":"eef0e8906a749d3470f89beeedc723f37a5737010bbb0dcc7cf91515338e5a3e","side":"right"},{"sibling":"1a07e481a9407d71aad078ce854cdeee362163c887fe10f889b0ecf0b5e749ad","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":158251,"merkle_root":"485e6b31fe60c8beba5b394808c7e4c32448b2ff65c2482c480ca0e2a2eda718","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260529T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-29T05:37:37Z","sig_algorithm":"ed25519","signature":"bbf9f005201182fce4f9d94c7a9d01a508b56daf7d9611bd73514f5f616bc059d0e5e1f2edfc95716e6fe08ef5fae38b558cbf7f2fd8f9d5dfe4c34a54c83005","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_441c3e15fcd2e1ec5d5128980fa9cb95bca413ca05f2ad33655548db1dc81491"}}