{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:55KI2JHXSU666DQPKHVN4OI445","short_pith_number":"pith:55KI2JHX","canonical_record":{"source":{"id":"2403.04712","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-07T18:07:41Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6522e0b68a905f56159887b137e0c17968f9ce2cc8bd7edeae1548c224c08aa4","abstract_canon_sha256":"24ebbf40fbeee7b354af8dc595647934140dc288eb85f97bd8bf5446a290b133"},"schema_version":"1.0"},"canonical_sha256":"ef548d24f7953def0e0f51eade391ce763ee391a7a05adb9684d8788e34af4c2","source":{"kind":"arxiv","id":"2403.04712","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.04712","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.04712v2","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.04712","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_12","alias_value":"55KI2JHXSU66","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_16","alias_value":"55KI2JHXSU666DQP","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_8","alias_value":"55KI2JHX","created_at":"2026-07-05T07:53:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:55KI2JHXSU666DQPKHVN4OI445","target":"record","payload":{"canonical_record":{"source":{"id":"2403.04712","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-07T18:07:41Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6522e0b68a905f56159887b137e0c17968f9ce2cc8bd7edeae1548c224c08aa4","abstract_canon_sha256":"24ebbf40fbeee7b354af8dc595647934140dc288eb85f97bd8bf5446a290b133"},"schema_version":"1.0"},"canonical_sha256":"ef548d24f7953def0e0f51eade391ce763ee391a7a05adb9684d8788e34af4c2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:34.100501Z","signature_b64":"HPVl+tGpOJJfnPQFz2CptoYhsLzumEBHHT93E6dPnH5Z9Jjn8Z2D8nJpFL05wQDZmOKHxJ5JdvAqwXQGOG0lCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef548d24f7953def0e0f51eade391ce763ee391a7a05adb9684d8788e34af4c2","last_reissued_at":"2026-07-05T07:53:34.100019Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:34.100019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.04712","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":"2026-07-05T07:53:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ncD74zduPTcY89pwuRRFioa1RdOBINEPUp+rFrgRXzudhwjrhsLgcvHBuXfpF+Q7FYC6bpEzW8zXDKY9kzBBAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T18:09:29.586793Z"},"content_sha256":"6b8afe009d0cc229ad2640971c8799530fe71e95a4e421d8affc2f5431824932","schema_version":"1.0","event_id":"sha256:6b8afe009d0cc229ad2640971c8799530fe71e95a4e421d8affc2f5431824932"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:55KI2JHXSU666DQPKHVN4OI445","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ashkan Jasour, David Jin, Harry Zhang, Luca Carlone, Maani Ghaffari, Sangli Teng","submitted_at":"2024-03-07T18:07:41Z","abstract_excerpt":"This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch setup where we perform state estimation using all data collected from the initial to the current time. We formulate the batch state estimation problem as a Polynomial Optimization Problem (POP) and relax the assumption of Gaussian noise by specifying a finite number of moments of the noise. We solve the resulting POP using a moment relaxation and prove that under suitable conditions on the rank of the relaxation, (i) w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.04712","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/2403.04712/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":"2026-07-05T07:53:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pkOgL3ag4aCZ+kxbl0gejxVJf8d+5p6Atw01+agjAwl3VIgbsrIpnkf/RZEl1O3+0P3aL3VZnGrim/kWPg7TAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T18:09:29.587330Z"},"content_sha256":"909fdc1dc332f13db95a56c8cc9bd36cd305bac409c9cf4d9ae107ef6bb0497a","schema_version":"1.0","event_id":"sha256:909fdc1dc332f13db95a56c8cc9bd36cd305bac409c9cf4d9ae107ef6bb0497a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/55KI2JHXSU666DQPKHVN4OI445/bundle.json","state_url":"https://pith.science/pith/55KI2JHXSU666DQPKHVN4OI445/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/55KI2JHXSU666DQPKHVN4OI445/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":"2026-08-20T18:09:29Z","links":{"resolver":"https://pith.science/pith/55KI2JHXSU666DQPKHVN4OI445","bundle":"https://pith.science/pith/55KI2JHXSU666DQPKHVN4OI445/bundle.json","state":"https://pith.science/pith/55KI2JHXSU666DQPKHVN4OI445/state.json","well_known_bundle":"https://pith.science/.well-known/pith/55KI2JHXSU666DQPKHVN4OI445/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:55KI2JHXSU666DQPKHVN4OI445","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":"24ebbf40fbeee7b354af8dc595647934140dc288eb85f97bd8bf5446a290b133","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-07T18:07:41Z","title_canon_sha256":"6522e0b68a905f56159887b137e0c17968f9ce2cc8bd7edeae1548c224c08aa4"},"schema_version":"1.0","source":{"id":"2403.04712","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.04712","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"arxiv_version","alias_value":"2403.04712v2","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.04712","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_12","alias_value":"55KI2JHXSU66","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_16","alias_value":"55KI2JHXSU666DQP","created_at":"2026-07-05T07:53:34Z"},{"alias_kind":"pith_short_8","alias_value":"55KI2JHX","created_at":"2026-07-05T07:53:34Z"}],"graph_snapshots":[{"event_id":"sha256:909fdc1dc332f13db95a56c8cc9bd36cd305bac409c9cf4d9ae107ef6bb0497a","target":"graph","created_at":"2026-07-05T07:53:34Z","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/2403.04712/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch setup where we perform state estimation using all data collected from the initial to the current time. We formulate the batch state estimation problem as a Polynomial Optimization Problem (POP) and relax the assumption of Gaussian noise by specifying a finite number of moments of the noise. We solve the resulting POP using a moment relaxation and prove that under suitable conditions on the rank of the relaxation, (i) w","authors_text":"Ashkan Jasour, David Jin, Harry Zhang, Luca Carlone, Maani Ghaffari, Sangli Teng","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-07T18:07:41Z","title":"GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.04712","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":"sha256:6b8afe009d0cc229ad2640971c8799530fe71e95a4e421d8affc2f5431824932","target":"record","created_at":"2026-07-05T07:53:34Z","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":"24ebbf40fbeee7b354af8dc595647934140dc288eb85f97bd8bf5446a290b133","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-07T18:07:41Z","title_canon_sha256":"6522e0b68a905f56159887b137e0c17968f9ce2cc8bd7edeae1548c224c08aa4"},"schema_version":"1.0","source":{"id":"2403.04712","kind":"arxiv","version":2}},"canonical_sha256":"ef548d24f7953def0e0f51eade391ce763ee391a7a05adb9684d8788e34af4c2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef548d24f7953def0e0f51eade391ce763ee391a7a05adb9684d8788e34af4c2","first_computed_at":"2026-07-05T07:53:34.100019Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:34.100019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HPVl+tGpOJJfnPQFz2CptoYhsLzumEBHHT93E6dPnH5Z9Jjn8Z2D8nJpFL05wQDZmOKHxJ5JdvAqwXQGOG0lCw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:34.100501Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.04712","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6b8afe009d0cc229ad2640971c8799530fe71e95a4e421d8affc2f5431824932","sha256:909fdc1dc332f13db95a56c8cc9bd36cd305bac409c9cf4d9ae107ef6bb0497a"],"state_sha256":"cc6cb39b9b70bf3ba9f77c606907216a0c83c7d7b881020784528f07d1f3a322"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KjT6wC8gvywzpFWtL1WOM264bkkbXWcnTA56a0L00ahyNq1mCNvsybOsLXgCRClFJVtGp2oP4VsXHtbTU/5ZBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T18:09:29.592706Z","bundle_sha256":"81ad0dd66d1ae2f4d7ed4c8d9c6611249d8e7a3b411b57f8698730849c6b36fe"}}