{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:4A5TA5FRW55YCRCA3M4FZ3WXWB","short_pith_number":"pith:4A5TA5FR","canonical_record":{"source":{"id":"2402.08857","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T23:56:04Z","cross_cats_sorted":[],"title_canon_sha256":"8bfaf8bba14c4aed02dafbaedc2ebf7d671329c7aa4fd730f6d49809f371e0c5","abstract_canon_sha256":"18504bc137953f5e857e7113962abab5d68f30e09560cd4900349c0ce75bde06"},"schema_version":"1.0"},"canonical_sha256":"e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd","source":{"kind":"arxiv","id":"2402.08857","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.08857","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"arxiv_version","alias_value":"2402.08857v1","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.08857","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_12","alias_value":"4A5TA5FRW55Y","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_16","alias_value":"4A5TA5FRW55YCRCA","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_8","alias_value":"4A5TA5FR","created_at":"2026-07-05T07:45:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:4A5TA5FRW55YCRCA3M4FZ3WXWB","target":"record","payload":{"canonical_record":{"source":{"id":"2402.08857","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T23:56:04Z","cross_cats_sorted":[],"title_canon_sha256":"8bfaf8bba14c4aed02dafbaedc2ebf7d671329c7aa4fd730f6d49809f371e0c5","abstract_canon_sha256":"18504bc137953f5e857e7113962abab5d68f30e09560cd4900349c0ce75bde06"},"schema_version":"1.0"},"canonical_sha256":"e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:45:03.742894Z","signature_b64":"fkhT0KjhpH7l8E6y+k/CDqOK2AlJp0qYRhybW+ldz0fV2UVJc32aPZwJjHvLw+R15ZGUOoD6LluUj1C18LF/CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd","last_reissued_at":"2026-07-05T07:45:03.741100Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:45:03.741100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.08857","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":"2026-07-05T07:45:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3xL/puOmlBJkkJzQ85ZSseY8TsrrNRgqZ5sYIkzn3LxRDRvsGokGwD+tE1BK9uRhJADBqzzLA4gKIEosFZhlCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:26:00.252743Z"},"content_sha256":"f286c72a7c24581c58efb3ec5a3fd8e5c95a3a9e2d9c1884e533231be0fa0e3c","schema_version":"1.0","event_id":"sha256:f286c72a7c24581c58efb3ec5a3fd8e5c95a3a9e2d9c1884e533231be0fa0e3c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:4A5TA5FRW55YCRCA3M4FZ3WXWB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adam Li, Bohao Zhang, Che Chen, Jonathan Michaux, Qingyi Chen, Ram Vasudevan","submitted_at":"2024-02-13T23:56:04Z","abstract_excerpt":"Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not damaged. However, they must also be generated in real-time to ensure the robot can quickly adapt to changes in the environment. Many trajectory optimization methods introduce heuristics that trade-off safety and real-time performance, which can lead to potentially unsafe plans. This paper addresses this challenge by proposing Safe Planning for Articulated Robots U"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.08857","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/2402.08857/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":"2026-07-05T07:45:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6JkvPOZ7MALyUFZXlAYD3DVc0qUuHX99dgp4UvJYqGccSPRTSrZTK2tx0nbWaJJGkYSKjML6sT+OO17Wz5s9Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:26:00.253146Z"},"content_sha256":"65d1f00fce4af8b22a34258611c67369110d848f5070c9405f7540a2dd8cf069","schema_version":"1.0","event_id":"sha256:65d1f00fce4af8b22a34258611c67369110d848f5070c9405f7540a2dd8cf069"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/bundle.json","state_url":"https://pith.science/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/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":"2026-08-03T17:26:00Z","links":{"resolver":"https://pith.science/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB","bundle":"https://pith.science/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/bundle.json","state":"https://pith.science/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4A5TA5FRW55YCRCA3M4FZ3WXWB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4A5TA5FRW55YCRCA3M4FZ3WXWB","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":"18504bc137953f5e857e7113962abab5d68f30e09560cd4900349c0ce75bde06","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T23:56:04Z","title_canon_sha256":"8bfaf8bba14c4aed02dafbaedc2ebf7d671329c7aa4fd730f6d49809f371e0c5"},"schema_version":"1.0","source":{"id":"2402.08857","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.08857","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"arxiv_version","alias_value":"2402.08857v1","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.08857","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_12","alias_value":"4A5TA5FRW55Y","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_16","alias_value":"4A5TA5FRW55YCRCA","created_at":"2026-07-05T07:45:03Z"},{"alias_kind":"pith_short_8","alias_value":"4A5TA5FR","created_at":"2026-07-05T07:45:03Z"}],"graph_snapshots":[{"event_id":"sha256:65d1f00fce4af8b22a34258611c67369110d848f5070c9405f7540a2dd8cf069","target":"graph","created_at":"2026-07-05T07:45:03Z","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/2402.08857/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not damaged. However, they must also be generated in real-time to ensure the robot can quickly adapt to changes in the environment. Many trajectory optimization methods introduce heuristics that trade-off safety and real-time performance, which can lead to potentially unsafe plans. This paper addresses this challenge by proposing Safe Planning for Articulated Robots U","authors_text":"Adam Li, Bohao Zhang, Che Chen, Jonathan Michaux, Qingyi Chen, Ram Vasudevan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T23:56:04Z","title":"Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.08857","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:f286c72a7c24581c58efb3ec5a3fd8e5c95a3a9e2d9c1884e533231be0fa0e3c","target":"record","created_at":"2026-07-05T07:45:03Z","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":"18504bc137953f5e857e7113962abab5d68f30e09560cd4900349c0ce75bde06","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T23:56:04Z","title_canon_sha256":"8bfaf8bba14c4aed02dafbaedc2ebf7d671329c7aa4fd730f6d49809f371e0c5"},"schema_version":"1.0","source":{"id":"2402.08857","kind":"arxiv","version":1}},"canonical_sha256":"e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd","first_computed_at":"2026-07-05T07:45:03.741100Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:45:03.741100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fkhT0KjhpH7l8E6y+k/CDqOK2AlJp0qYRhybW+ldz0fV2UVJc32aPZwJjHvLw+R15ZGUOoD6LluUj1C18LF/CA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:45:03.742894Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.08857","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f286c72a7c24581c58efb3ec5a3fd8e5c95a3a9e2d9c1884e533231be0fa0e3c","sha256:65d1f00fce4af8b22a34258611c67369110d848f5070c9405f7540a2dd8cf069"],"state_sha256":"cb7f4dc4fdb327949ec74719d01c9d8d6f187fa65810437f6848fe5fda87ecad"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6vQ9mbjXUemu4h0YdxJM/h5+Fx2UzMZsUl2h0k+NaOtUukndQz8ib9R7IsYE8Ul5L4of4laQB/F3YeoFP5h+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T17:26:00.256260Z","bundle_sha256":"f8f196956450cdb7da23f845aa319ee935ec0a1242cb379ac5fd11b4ba0784ff"}}