{"_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_da51db5a13139882b35b133cc69e62ac0047706a669691dca5a731b9d98483c4","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_da51db5a13139882b35b133cc69e62ac0047706a669691dca5a731b9d98483c4","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"aebb2ebb72fa9258c0be2b23af8979a9e83277d838fd0e6390feaffd3241c012","published":"Tue, 19 May 2026 00:00:00 -0400","receipt_hash":"aebb2ebb72fa9258c0be2b23af8979a9e83277d838fd0e6390feaffd3241c012","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":"aebb2ebb72fa9258c0be2b23af8979a9e83277d838fd0e6390feaffd3241c012","observed_at":"2026-05-19T04:43:36.782648Z","parent_run_hash":"fefa4c726316a95c5dda9fc1ca07a38a811cf7ffa9825b2f09b365abacd9b32d","published":"Tue, 19 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:2605.17800v1 Announce Type: cross \nAbstract: Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem characteristics for practically motivated settings with uniformly sized blocks placed at planar tabletop grid locations. Since purely prehensile removal can become infeasible, a directional knock primitive is therefore introduced and the optimal knock-pick variant of the problem is formulated. The work proposes a series of abstractions wherein minimal constraining gadgets are covered to identify the necessary knocks. Utilizing a maximum-weight perfect matching on a graphical abstraction yields efficient polynomial-time computation of the optimal plan that minimizes the number of actions. Experiments are reported for increasing grid sizes in synthetic settings as well as in IsaacSim. The theoretical observations provide a promising stepping stone towards rigoro","title":"Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers","url":"https://arxiv.org/abs/2605.17800","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.17800v1 Announce Type: cross \nAbstract: Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem characteristics for practically motivated settings with uniformly sized blocks placed at planar tabletop grid locations. Since purely prehensile removal can become infeasible, a directional knock primitive is therefore introduced and the optimal knock-pick variant of the problem is formulated. The work proposes a series of abstractions wherein minimal constraining gadgets are covered to identify the necessary knocks. Utilizing a maximum-weight perfect matching on a graphical abstraction yields efficient polynomial-time computation of the optimal plan that minimizes the number of actions. Experiments are reported for increasing grid sizes in synthetic settings as well as in IsaacSim. The theoretical observations provide a promising stepping stone towards rigoro","title":"Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-19T04:43:36Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.17800"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:f3f212f5dfba4c61656174a71085f7751055e63d23190efa674fbfbf00395c1a22323435eccf3469205454167dcf0f9973de82b4f5cbd96d431d5dd0be664d06","signer":"crovia.substrate","subject":{"observed_at":"2026-05-19T04:43:36Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.17800"},"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":"3c037b09bac07fb193ef8984724b439c7b525514b0e9d7dcdedf188024ef685f","leaf_index":142778,"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":"9a414130f040f0524cd6f3f072595386eb01401fef35b15f2a6662870597aec8","side":"right"},{"sibling":"edca5eba8002535f718580977aca7f2f08dfbf540e5ce69dbab9da2af9718b79","side":"left"},{"sibling":"fdf143eda075a2d30b16851734682c88ee927aa4b9acf551b2b05df7d15b4223","side":"right"},{"sibling":"9f7074885867a2a65c2010cb68edaf0f4d2c9efdeb38381293427196a9adad4c","side":"left"},{"sibling":"d477482dceb41a1f8281f946ceba41689bc0a29664682f517cf90c2f94420d31","side":"left"},{"sibling":"d7a31810b0489c9bd4b6cf7664144f66b5ce8f1f4a5425f8a4c4c31a5f8e4587","side":"left"},{"sibling":"fc791956c7f3340d3c458603b3d8eb2cf5b9c49d863090e0c16aa81ddd04a07e","side":"right"},{"sibling":"bda8ed627eb0c8b21066bfa3a60b10b3fd1daf60f49295408a27bab24b140eb3","side":"left"},{"sibling":"f1c796d3bd453570426dcee9ab20072f19762202f84b7993afba2c7c0ee9ec3b","side":"left"},{"sibling":"2e0ce989d789c88e796991ef014ce7e4e1f96c0d4ede9da8d31afcf5ba6a8f46","side":"right"},{"sibling":"202f1bead178ef3785968d50d3d188264a95192a077654c331612e04a34cbfbe","side":"left"},{"sibling":"72249c8c8b068386e35d16f4bd0bbeb9ba820ca217ef0f0d28396c9fe493f5f0","side":"left"},{"sibling":"ea64599340f7ffdf17ad0cbc1d9401ef8870a347e3847bdc106d06b1673df09c","side":"right"},{"sibling":"8f4c0fbe56b6c010fbb8c782ebcd478079bb3f991d8704e2534209a075d9163c","side":"left"},{"sibling":"4db1f363729507e27a60851cf6ed334d7b9acdef194ed7d419aba4d2bd367a4a","side":"right"},{"sibling":"a86ee18c45e7fcc408b6007eaece05aa75b2d9ae30252e9e878462b4dffbef7b","side":"right"},{"sibling":"1d18e7663d43ccff0122ecc7ee12645bb16afb607b218e81b1ea2408f863cb78","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":143302,"merkle_root":"999156d40a7c61d9ddd52b7338f3cbda3e68f53bace070c7b616ea194e23b123","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260519T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-19T05:37:30Z","sig_algorithm":"ed25519","signature":"b1a252cc66ff32bed1d10dd88a6b2a200e3856d3dbcfcc4ee55e02e00f3d548e854ed9c544704b222bd5d315492c4a935ba2d90d727c585a67899b0ad602fc05","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_da51db5a13139882b35b133cc69e62ac0047706a669691dca5a731b9d98483c4"}}