{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:46ZSZQSZDYTCHO3EOCNOJBMIS6","short_pith_number":"pith:46ZSZQSZ","canonical_record":{"source":{"id":"2112.05878","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-11T00:18:54Z","cross_cats_sorted":[],"title_canon_sha256":"64c13d49120594c5fc0f072689323c6be489f6012153b6683d457a8f6b4a7da9","abstract_canon_sha256":"126d6d738e60e747c561e352529fcf4c7216286afd3a74273a8707d2a605fd08"},"schema_version":"1.0"},"canonical_sha256":"e7b32cc2591e2623bb64709ae48588979d0eddcc535ba25161b59b1ed8839b99","source":{"kind":"arxiv","id":"2112.05878","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.05878","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"arxiv_version","alias_value":"2112.05878v1","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.05878","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_12","alias_value":"46ZSZQSZDYTC","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_16","alias_value":"46ZSZQSZDYTCHO3E","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_8","alias_value":"46ZSZQSZ","created_at":"2026-07-05T03:40:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:46ZSZQSZDYTCHO3EOCNOJBMIS6","target":"record","payload":{"canonical_record":{"source":{"id":"2112.05878","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-11T00:18:54Z","cross_cats_sorted":[],"title_canon_sha256":"64c13d49120594c5fc0f072689323c6be489f6012153b6683d457a8f6b4a7da9","abstract_canon_sha256":"126d6d738e60e747c561e352529fcf4c7216286afd3a74273a8707d2a605fd08"},"schema_version":"1.0"},"canonical_sha256":"e7b32cc2591e2623bb64709ae48588979d0eddcc535ba25161b59b1ed8839b99","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:40:07.848744Z","signature_b64":"oNXcUrCd4lXUhfJyGhfjiANr578XdKy3X3UzutfmOJXREvo3Ixvg/ADmBwPXHds3LcfSbuo51GqbIGKwBg2XBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e7b32cc2591e2623bb64709ae48588979d0eddcc535ba25161b59b1ed8839b99","last_reissued_at":"2026-07-05T03:40:07.848389Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:40:07.848389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.05878","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":"2026-07-05T03:40:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"feWyDteJBWfaWlPIsKqsxSc07lrsOuv4SRESB0Pqnl2xIrySXUwJNhFrPmdM+1qnuyBwBqJegAxJUkOUBlAsDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:08:31.396420Z"},"content_sha256":"29a3fb94636b1bbfc3a3446641b218237be37ba68fe8fe646505fdd51eeaf002","schema_version":"1.0","event_id":"sha256:29a3fb94636b1bbfc3a3446641b218237be37ba68fe8fe646505fdd51eeaf002"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:46ZSZQSZDYTCHO3EOCNOJBMIS6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brian Coltin, David W. Miller, Keenan Albee, Monica Ekal, Richard Linares, Rodrigo Ventura","submitted_at":"2021-12-11T00:18:54Z","abstract_excerpt":"Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like mass and moment of inertia are especially important to quantify in these safety-critical space systems and can change in scenarios such as on-orbit cargo movement, where unknown grappled payloads significantly change the system dynamics. Cautiously learning these uncertainties en route can potentially avoid time- and fuel-consuming pure system identification maneuvers. Recognizing this, this work proposes RATTLE, an"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.05878","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/2112.05878/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":"2026-07-05T03:40:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OtEC0LYm4Gr+vhYPnWoen3CexN3B/H3HcBF8SCAPakWgRwJimxEHhWgXBdd+XxxONVFyxGRtvhDVJseS9/rsAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:08:31.397567Z"},"content_sha256":"2e49eba423aa5838e864f19fa7e398f5e7d48c8584219265d90bbce6d66e1559","schema_version":"1.0","event_id":"sha256:2e49eba423aa5838e864f19fa7e398f5e7d48c8584219265d90bbce6d66e1559"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/bundle.json","state_url":"https://pith.science/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/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":"2026-08-06T16:08:31Z","links":{"resolver":"https://pith.science/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6","bundle":"https://pith.science/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/bundle.json","state":"https://pith.science/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/46ZSZQSZDYTCHO3EOCNOJBMIS6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:46ZSZQSZDYTCHO3EOCNOJBMIS6","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":"126d6d738e60e747c561e352529fcf4c7216286afd3a74273a8707d2a605fd08","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-11T00:18:54Z","title_canon_sha256":"64c13d49120594c5fc0f072689323c6be489f6012153b6683d457a8f6b4a7da9"},"schema_version":"1.0","source":{"id":"2112.05878","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.05878","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"arxiv_version","alias_value":"2112.05878v1","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.05878","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_12","alias_value":"46ZSZQSZDYTC","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_16","alias_value":"46ZSZQSZDYTCHO3E","created_at":"2026-07-05T03:40:07Z"},{"alias_kind":"pith_short_8","alias_value":"46ZSZQSZ","created_at":"2026-07-05T03:40:07Z"}],"graph_snapshots":[{"event_id":"sha256:2e49eba423aa5838e864f19fa7e398f5e7d48c8584219265d90bbce6d66e1559","target":"graph","created_at":"2026-07-05T03:40:07Z","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/2112.05878/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like mass and moment of inertia are especially important to quantify in these safety-critical space systems and can change in scenarios such as on-orbit cargo movement, where unknown grappled payloads significantly change the system dynamics. Cautiously learning these uncertainties en route can potentially avoid time- and fuel-consuming pure system identification maneuvers. Recognizing this, this work proposes RATTLE, an","authors_text":"Brian Coltin, David W. Miller, Keenan Albee, Monica Ekal, Richard Linares, Rodrigo Ventura","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-11T00:18:54Z","title":"Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.05878","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":"sha256:29a3fb94636b1bbfc3a3446641b218237be37ba68fe8fe646505fdd51eeaf002","target":"record","created_at":"2026-07-05T03:40:07Z","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":"126d6d738e60e747c561e352529fcf4c7216286afd3a74273a8707d2a605fd08","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-11T00:18:54Z","title_canon_sha256":"64c13d49120594c5fc0f072689323c6be489f6012153b6683d457a8f6b4a7da9"},"schema_version":"1.0","source":{"id":"2112.05878","kind":"arxiv","version":1}},"canonical_sha256":"e7b32cc2591e2623bb64709ae48588979d0eddcc535ba25161b59b1ed8839b99","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e7b32cc2591e2623bb64709ae48588979d0eddcc535ba25161b59b1ed8839b99","first_computed_at":"2026-07-05T03:40:07.848389Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:40:07.848389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oNXcUrCd4lXUhfJyGhfjiANr578XdKy3X3UzutfmOJXREvo3Ixvg/ADmBwPXHds3LcfSbuo51GqbIGKwBg2XBg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:40:07.848744Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.05878","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:29a3fb94636b1bbfc3a3446641b218237be37ba68fe8fe646505fdd51eeaf002","sha256:2e49eba423aa5838e864f19fa7e398f5e7d48c8584219265d90bbce6d66e1559"],"state_sha256":"f33ef6e3d2e1bc372b44928563fe5f157b6b223c93439a8ecd034455faf725f3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9zx6CvKcoc1jT6Bq6HpAo7/VgL3W8HAv5lxxLxa1MrsCAKkxQtfinP+UMXyWb9iBQ1wm81XTrDL9nYuca7kkDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T16:08:31.404881Z","bundle_sha256":"6eb7bd0d6961ff151afd2d3f0f2211390d74a61f86a6175337fbf6bcbeb140bd"}}