{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:4UOS4BHZLDM6TIMRHDI32FUNEA","short_pith_number":"pith:4UOS4BHZ","canonical_record":{"source":{"id":"2002.06599","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-16T15:39:04Z","cross_cats_sorted":[],"title_canon_sha256":"d369c0344d3bef64168841a53c441b45a12b314a5bb74f24fd33d8f8364b9eb1","abstract_canon_sha256":"a958e9ba03eced43a5997b9e8799c3c800d819306ecc624652a13ab6c5bf7393"},"schema_version":"1.0"},"canonical_sha256":"e51d2e04f958d9e9a19138d1bd168d2025356403edeadfaf1ffa1144c6b83aeb","source":{"kind":"arxiv","id":"2002.06599","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.06599","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"arxiv_version","alias_value":"2002.06599v2","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.06599","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_12","alias_value":"4UOS4BHZLDM6","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_16","alias_value":"4UOS4BHZLDM6TIMR","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_8","alias_value":"4UOS4BHZ","created_at":"2026-07-05T01:58:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:4UOS4BHZLDM6TIMRHDI32FUNEA","target":"record","payload":{"canonical_record":{"source":{"id":"2002.06599","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-16T15:39:04Z","cross_cats_sorted":[],"title_canon_sha256":"d369c0344d3bef64168841a53c441b45a12b314a5bb74f24fd33d8f8364b9eb1","abstract_canon_sha256":"a958e9ba03eced43a5997b9e8799c3c800d819306ecc624652a13ab6c5bf7393"},"schema_version":"1.0"},"canonical_sha256":"e51d2e04f958d9e9a19138d1bd168d2025356403edeadfaf1ffa1144c6b83aeb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:58:08.363377Z","signature_b64":"4X1xGqhRQICLy4ekmYCIertMrmKoFRIltZJOn5bcdyt6PDv+xBckJVl7LFVYQlMQmKldUDYtjWat8Y8N36VFCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e51d2e04f958d9e9a19138d1bd168d2025356403edeadfaf1ffa1144c6b83aeb","last_reissued_at":"2026-07-05T01:58:08.362982Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:58:08.362982Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2002.06599","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:58:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UX1JnZNRZ+9Dns2RhpFw5qAPWkHWAVidoJRmyEl9dKV6v9L0KgCxg/hzD/BfjCc+nLG+NESyzBY0qGrwGVerDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:20:59.009897Z"},"content_sha256":"9b929c7adbc5f1889e94187970443b20f370f6a99db4ae3e054010a17d2d34ab","schema_version":"1.0","event_id":"sha256:9b929c7adbc5f1889e94187970443b20f370f6a99db4ae3e054010a17d2d34ab"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:4UOS4BHZLDM6TIMRHDI32FUNEA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jonathan D. Gammell, Marlin P. Strub","submitted_at":"2020-02-16T15:39:04Z","abstract_excerpt":"Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic.\n  Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are often simple to define and inexpensive to evaluate but may not be beneficial for a specific problem instance. Heuristics specific to a problem instance are often difficult to define or expensive to "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.06599","kind":"arxiv","version":2},"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/2002.06599/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":"2026-07-05T01:58:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bv8WHtx/iq0DjGY+yxl1sR7hidGOZZl36S0AhjrNnxqk6KeTnb11vDgMe/6PObbewUWIYP64Vy/T00kKaX5ADQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:20:59.010274Z"},"content_sha256":"8ddce804ddedbca5686905c1f22b123b029f2771168f9e8a97181e7bea6354fc","schema_version":"1.0","event_id":"sha256:8ddce804ddedbca5686905c1f22b123b029f2771168f9e8a97181e7bea6354fc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/bundle.json","state_url":"https://pith.science/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/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":"2026-07-09T02:20:59Z","links":{"resolver":"https://pith.science/pith/4UOS4BHZLDM6TIMRHDI32FUNEA","bundle":"https://pith.science/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/bundle.json","state":"https://pith.science/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4UOS4BHZLDM6TIMRHDI32FUNEA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:4UOS4BHZLDM6TIMRHDI32FUNEA","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":"a958e9ba03eced43a5997b9e8799c3c800d819306ecc624652a13ab6c5bf7393","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-16T15:39:04Z","title_canon_sha256":"d369c0344d3bef64168841a53c441b45a12b314a5bb74f24fd33d8f8364b9eb1"},"schema_version":"1.0","source":{"id":"2002.06599","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.06599","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"arxiv_version","alias_value":"2002.06599v2","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.06599","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_12","alias_value":"4UOS4BHZLDM6","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_16","alias_value":"4UOS4BHZLDM6TIMR","created_at":"2026-07-05T01:58:08Z"},{"alias_kind":"pith_short_8","alias_value":"4UOS4BHZ","created_at":"2026-07-05T01:58:08Z"}],"graph_snapshots":[{"event_id":"sha256:8ddce804ddedbca5686905c1f22b123b029f2771168f9e8a97181e7bea6354fc","target":"graph","created_at":"2026-07-05T01:58:08Z","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/2002.06599/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic.\n  Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are often simple to define and inexpensive to evaluate but may not be beneficial for a specific problem instance. Heuristics specific to a problem instance are often difficult to define or expensive to ","authors_text":"Jonathan D. Gammell, Marlin P. Strub","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-16T15:39:04Z","title":"Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.06599","kind":"arxiv","version":2},"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":"sha256:9b929c7adbc5f1889e94187970443b20f370f6a99db4ae3e054010a17d2d34ab","target":"record","created_at":"2026-07-05T01:58:08Z","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":"a958e9ba03eced43a5997b9e8799c3c800d819306ecc624652a13ab6c5bf7393","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-16T15:39:04Z","title_canon_sha256":"d369c0344d3bef64168841a53c441b45a12b314a5bb74f24fd33d8f8364b9eb1"},"schema_version":"1.0","source":{"id":"2002.06599","kind":"arxiv","version":2}},"canonical_sha256":"e51d2e04f958d9e9a19138d1bd168d2025356403edeadfaf1ffa1144c6b83aeb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e51d2e04f958d9e9a19138d1bd168d2025356403edeadfaf1ffa1144c6b83aeb","first_computed_at":"2026-07-05T01:58:08.362982Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:58:08.362982Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4X1xGqhRQICLy4ekmYCIertMrmKoFRIltZJOn5bcdyt6PDv+xBckJVl7LFVYQlMQmKldUDYtjWat8Y8N36VFCw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:58:08.363377Z","signed_message":"canonical_sha256_bytes"},"source_id":"2002.06599","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b929c7adbc5f1889e94187970443b20f370f6a99db4ae3e054010a17d2d34ab","sha256:8ddce804ddedbca5686905c1f22b123b029f2771168f9e8a97181e7bea6354fc"],"state_sha256":"e93a9d44c3fcf29253119d104531047fdd6c8d5ab61cb28b4562424b4857a25c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ALGQAT6Ng3ZVCR5z6Cpa9X2VMBe7+E17MPu8N/TY4lxglaJac2joAzAz2wreggJHhMWssZEqsXpnIEhFFuocAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T02:20:59.012329Z","bundle_sha256":"4791c74ebad60654090b8de088c83187c6ab35e31027f97f5d913b20f1eeb4ab"}}