{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:6UFHMQLUCTSORVSRS6J5P25FKI","short_pith_number":"pith:6UFHMQLU","canonical_record":{"source":{"id":"2006.00424","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-31T03:04:51Z","cross_cats_sorted":[],"title_canon_sha256":"71d791658a74cf996b8b8c05276bca0133f9f73351bafd12a3df43cc21b98c07","abstract_canon_sha256":"8b594bc03b7ea2db625e0f381db32293cf053cfaee57228626415c4d6c006cb8"},"schema_version":"1.0"},"canonical_sha256":"f50a76417414e4e8d6519793d7eba55213c4d71ae20bef29fb9f50ac8a05ed21","source":{"kind":"arxiv","id":"2006.00424","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.00424","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"arxiv_version","alias_value":"2006.00424v1","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.00424","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_12","alias_value":"6UFHMQLUCTSO","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_16","alias_value":"6UFHMQLUCTSORVSR","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_8","alias_value":"6UFHMQLU","created_at":"2026-07-05T01:07:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:6UFHMQLUCTSORVSRS6J5P25FKI","target":"record","payload":{"canonical_record":{"source":{"id":"2006.00424","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-31T03:04:51Z","cross_cats_sorted":[],"title_canon_sha256":"71d791658a74cf996b8b8c05276bca0133f9f73351bafd12a3df43cc21b98c07","abstract_canon_sha256":"8b594bc03b7ea2db625e0f381db32293cf053cfaee57228626415c4d6c006cb8"},"schema_version":"1.0"},"canonical_sha256":"f50a76417414e4e8d6519793d7eba55213c4d71ae20bef29fb9f50ac8a05ed21","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:07:01.459460Z","signature_b64":"7RlVyRs4TqzGkPVh2fg//KZ8vNcyOJ/gmvyZIrS6hM2MYELnEZHLMlgZTBVoyKvfxNd/dcV1DckL99TaUt53DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f50a76417414e4e8d6519793d7eba55213c4d71ae20bef29fb9f50ac8a05ed21","last_reissued_at":"2026-07-05T01:07:01.458968Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:07:01.458968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2006.00424","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":"2026-07-05T01:07:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GN3xylXl085p3fzdF7kd4tRN1TCZp0UAmLzcOrrvAJkHUr3fhNn35UpnHZ43xt9xgU4eGixVVrF1ppqJuYPmCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T16:15:15.616042Z"},"content_sha256":"01646b0c61aba57cbee2681be9b4ee7c2ef0e58f122d11afddc3b19a65aa3020","schema_version":"1.0","event_id":"sha256:01646b0c61aba57cbee2681be9b4ee7c2ef0e58f122d11afddc3b19a65aa3020"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:6UFHMQLUCTSORVSRS6J5P25FKI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Jae Sung Park","submitted_at":"2020-05-31T03:04:51Z","abstract_excerpt":"We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human motion prediction, and we present a novel deep learning-based prediction algorithm. Our formulation uses CNNs and LSTMs and we augment human-action datasets with synthetically generated occlusion information for training. We also present an occlusion-aware planner that uses our motion prediction algorithm to compute collision-free trajectories. We highlight p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.00424","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/2006.00424/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":"2026-07-05T01:07:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Iu94f/U/5FMRJ2Jn7SDwU2k/A2VqUDkfJuA7zHej8zCGvpjjsFvRlfBXkAqovNjB7zoYFR++YuV4dkjxbac3Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T16:15:15.616620Z"},"content_sha256":"7b4c6c27f09bdc9ce8a09c6a8c386d3aeae49095a6b2adf5a368ae2f57400aca","schema_version":"1.0","event_id":"sha256:7b4c6c27f09bdc9ce8a09c6a8c386d3aeae49095a6b2adf5a368ae2f57400aca"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6UFHMQLUCTSORVSRS6J5P25FKI/bundle.json","state_url":"https://pith.science/pith/6UFHMQLUCTSORVSRS6J5P25FKI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6UFHMQLUCTSORVSRS6J5P25FKI/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":"2026-08-08T16:15:15Z","links":{"resolver":"https://pith.science/pith/6UFHMQLUCTSORVSRS6J5P25FKI","bundle":"https://pith.science/pith/6UFHMQLUCTSORVSRS6J5P25FKI/bundle.json","state":"https://pith.science/pith/6UFHMQLUCTSORVSRS6J5P25FKI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6UFHMQLUCTSORVSRS6J5P25FKI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:6UFHMQLUCTSORVSRS6J5P25FKI","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":"8b594bc03b7ea2db625e0f381db32293cf053cfaee57228626415c4d6c006cb8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-31T03:04:51Z","title_canon_sha256":"71d791658a74cf996b8b8c05276bca0133f9f73351bafd12a3df43cc21b98c07"},"schema_version":"1.0","source":{"id":"2006.00424","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.00424","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"arxiv_version","alias_value":"2006.00424v1","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.00424","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_12","alias_value":"6UFHMQLUCTSO","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_16","alias_value":"6UFHMQLUCTSORVSR","created_at":"2026-07-05T01:07:01Z"},{"alias_kind":"pith_short_8","alias_value":"6UFHMQLU","created_at":"2026-07-05T01:07:01Z"}],"graph_snapshots":[{"event_id":"sha256:7b4c6c27f09bdc9ce8a09c6a8c386d3aeae49095a6b2adf5a368ae2f57400aca","target":"graph","created_at":"2026-07-05T01:07:01Z","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/2006.00424/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human motion prediction, and we present a novel deep learning-based prediction algorithm. Our formulation uses CNNs and LSTMs and we augment human-action datasets with synthetically generated occlusion information for training. We also present an occlusion-aware planner that uses our motion prediction algorithm to compute collision-free trajectories. We highlight p","authors_text":"Dinesh Manocha, Jae Sung Park","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-31T03:04:51Z","title":"HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.00424","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":"sha256:01646b0c61aba57cbee2681be9b4ee7c2ef0e58f122d11afddc3b19a65aa3020","target":"record","created_at":"2026-07-05T01:07:01Z","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":"8b594bc03b7ea2db625e0f381db32293cf053cfaee57228626415c4d6c006cb8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-31T03:04:51Z","title_canon_sha256":"71d791658a74cf996b8b8c05276bca0133f9f73351bafd12a3df43cc21b98c07"},"schema_version":"1.0","source":{"id":"2006.00424","kind":"arxiv","version":1}},"canonical_sha256":"f50a76417414e4e8d6519793d7eba55213c4d71ae20bef29fb9f50ac8a05ed21","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f50a76417414e4e8d6519793d7eba55213c4d71ae20bef29fb9f50ac8a05ed21","first_computed_at":"2026-07-05T01:07:01.458968Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:07:01.458968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7RlVyRs4TqzGkPVh2fg//KZ8vNcyOJ/gmvyZIrS6hM2MYELnEZHLMlgZTBVoyKvfxNd/dcV1DckL99TaUt53DA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:07:01.459460Z","signed_message":"canonical_sha256_bytes"},"source_id":"2006.00424","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:01646b0c61aba57cbee2681be9b4ee7c2ef0e58f122d11afddc3b19a65aa3020","sha256:7b4c6c27f09bdc9ce8a09c6a8c386d3aeae49095a6b2adf5a368ae2f57400aca"],"state_sha256":"abee3d238d75cd973004eda3268940606adf7c845d26daa44b085e8d9e47ab4b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z2DNCB10GJwg4P6xWzc4qCUoiXOukQz0q5l+N6IkF8JxmyJjVp27XOyJVor5Rl6EhidnNX5RduvLMrYqgGBnAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T16:15:15.622178Z","bundle_sha256":"17a8ba57693db9689ed40b3b097fcea2539a678f6cc10bbc4c3ced7e03bacdca"}}