{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4JJJ6HBC3ZVXWV33NYCQN2NES7","short_pith_number":"pith:4JJJ6HBC","canonical_record":{"source":{"id":"2209.07660","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-09-16T00:50:36Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"d5674450989be68f27be5bb41065a1c51625881c8c6376127aad97cc2e1dd3f5","abstract_canon_sha256":"a082e03e9132ce12cc90ac0133fb001b51c5a36ea034cbdcd0dc6da16eacfcfc"},"schema_version":"1.0"},"canonical_sha256":"e2529f1c22de6b7b577b6e0506e9a497d035042dae834981f15a666ebf740e48","source":{"kind":"arxiv","id":"2209.07660","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07660","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07660v1","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07660","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_12","alias_value":"4JJJ6HBC3ZVX","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_16","alias_value":"4JJJ6HBC3ZVXWV33","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_8","alias_value":"4JJJ6HBC","created_at":"2026-07-05T04:58:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4JJJ6HBC3ZVXWV33NYCQN2NES7","target":"record","payload":{"canonical_record":{"source":{"id":"2209.07660","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-09-16T00:50:36Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"d5674450989be68f27be5bb41065a1c51625881c8c6376127aad97cc2e1dd3f5","abstract_canon_sha256":"a082e03e9132ce12cc90ac0133fb001b51c5a36ea034cbdcd0dc6da16eacfcfc"},"schema_version":"1.0"},"canonical_sha256":"e2529f1c22de6b7b577b6e0506e9a497d035042dae834981f15a666ebf740e48","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:58:08.350692Z","signature_b64":"eRiixcxWk/N55JuLnMSYbOfbcd10m3iTMrOEiztT/rJKzlyHjN+kGdqhSj+FE9lWZuUwvSxlnxeK0uQJ5I/MBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e2529f1c22de6b7b577b6e0506e9a497d035042dae834981f15a666ebf740e48","last_reissued_at":"2026-07-05T04:58:08.350259Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:58:08.350259Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.07660","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":"2026-07-05T04:58:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DC1Hqu+Lqu45RDmMRhKMk92/VWqXhugX4ernl8MUcy8sERB/cwOAlGTDRkXLiGlJ9LHXAM1sewQG/riTe0OuDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T22:59:01.928220Z"},"content_sha256":"de144e8b12ef694645c69b46237e00bdc97cfc80d712cf4cd9808945dac340b7","schema_version":"1.0","event_id":"sha256:de144e8b12ef694645c69b46237e00bdc97cfc80d712cf4cd9808945dac340b7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4JJJ6HBC3ZVXWV33NYCQN2NES7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.AI","authors_text":"Edward Balaban, Joshua Ott, Mykel J. Kochenderfer","submitted_at":"2022-09-16T00:50:36Z","abstract_excerpt":"Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) considers the problem of an agent equipped with multiple sensors, each with different sensing accuracy and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints in unknown, partially observable environments. Previous work has focused on the less general Adaptive Informative Path Planning (AIPP) problem, which considers only the effect of the agent's movement on received observations. The AIPPMS problem adds additional complexity by requiring that the agent reaso"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07660","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/2209.07660/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":"2026-07-05T04:58:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RrUXW/nAwfH6gc0j1i4KiaqOIfIPozh2Ildh6obHVR9O5lpG9N8UdiqCqD53W1h8d/2rmbvEMsy7SDrwNG4QCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T22:59:01.928628Z"},"content_sha256":"83a7576356c1a342998c7efff2d78eca5c5d9424e740d63ef046fe5d305b5604","schema_version":"1.0","event_id":"sha256:83a7576356c1a342998c7efff2d78eca5c5d9424e740d63ef046fe5d305b5604"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/bundle.json","state_url":"https://pith.science/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/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":"2026-08-23T22:59:01Z","links":{"resolver":"https://pith.science/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7","bundle":"https://pith.science/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/bundle.json","state":"https://pith.science/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4JJJ6HBC3ZVXWV33NYCQN2NES7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4JJJ6HBC3ZVXWV33NYCQN2NES7","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":"a082e03e9132ce12cc90ac0133fb001b51c5a36ea034cbdcd0dc6da16eacfcfc","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-09-16T00:50:36Z","title_canon_sha256":"d5674450989be68f27be5bb41065a1c51625881c8c6376127aad97cc2e1dd3f5"},"schema_version":"1.0","source":{"id":"2209.07660","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07660","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07660v1","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07660","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_12","alias_value":"4JJJ6HBC3ZVX","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_16","alias_value":"4JJJ6HBC3ZVXWV33","created_at":"2026-07-05T04:58:08Z"},{"alias_kind":"pith_short_8","alias_value":"4JJJ6HBC","created_at":"2026-07-05T04:58:08Z"}],"graph_snapshots":[{"event_id":"sha256:83a7576356c1a342998c7efff2d78eca5c5d9424e740d63ef046fe5d305b5604","target":"graph","created_at":"2026-07-05T04:58:08Z","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/2209.07660/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) considers the problem of an agent equipped with multiple sensors, each with different sensing accuracy and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints in unknown, partially observable environments. Previous work has focused on the less general Adaptive Informative Path Planning (AIPP) problem, which considers only the effect of the agent's movement on received observations. The AIPPMS problem adds additional complexity by requiring that the agent reaso","authors_text":"Edward Balaban, Joshua Ott, Mykel J. Kochenderfer","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-09-16T00:50:36Z","title":"Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07660","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:de144e8b12ef694645c69b46237e00bdc97cfc80d712cf4cd9808945dac340b7","target":"record","created_at":"2026-07-05T04:58:08Z","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":"a082e03e9132ce12cc90ac0133fb001b51c5a36ea034cbdcd0dc6da16eacfcfc","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-09-16T00:50:36Z","title_canon_sha256":"d5674450989be68f27be5bb41065a1c51625881c8c6376127aad97cc2e1dd3f5"},"schema_version":"1.0","source":{"id":"2209.07660","kind":"arxiv","version":1}},"canonical_sha256":"e2529f1c22de6b7b577b6e0506e9a497d035042dae834981f15a666ebf740e48","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e2529f1c22de6b7b577b6e0506e9a497d035042dae834981f15a666ebf740e48","first_computed_at":"2026-07-05T04:58:08.350259Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:58:08.350259Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eRiixcxWk/N55JuLnMSYbOfbcd10m3iTMrOEiztT/rJKzlyHjN+kGdqhSj+FE9lWZuUwvSxlnxeK0uQJ5I/MBg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:58:08.350692Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.07660","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:de144e8b12ef694645c69b46237e00bdc97cfc80d712cf4cd9808945dac340b7","sha256:83a7576356c1a342998c7efff2d78eca5c5d9424e740d63ef046fe5d305b5604"],"state_sha256":"1ccabf20b74f3d4d582af49292b81f40751703063eed1a40a769dc78f6f73bf3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UjkpuE22vH9A4ScPK+txnOtX3hH2V3nzy8QX2ZGXnfAFfgsHDX0FmmokGqiA53We5k/6034xL1PcttzLTGEPBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T22:59:01.932056Z","bundle_sha256":"9dfd038b8c26b1559a9fb68c8e73fc8ba715b397be8d4ae6725a2b1e2a3bc5d0"}}