{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:7M27O5TRC5HVVGWMZXMNUQ4NQK","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":"fc750bb16a30ac9f855acae6a645dabf4f9ca16c6c54e02a0f166555776ac0e4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T17:14:32Z","title_canon_sha256":"f4793d4ab877bd63eab07950c932a21ee7060daea140ae4b753a422df6693892"},"schema_version":"1.0","source":{"id":"2210.03704","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.03704","created_at":"2026-07-05T05:04:23Z"},{"alias_kind":"arxiv_version","alias_value":"2210.03704v1","created_at":"2026-07-05T05:04:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.03704","created_at":"2026-07-05T05:04:23Z"},{"alias_kind":"pith_short_12","alias_value":"7M27O5TRC5HV","created_at":"2026-07-05T05:04:23Z"},{"alias_kind":"pith_short_16","alias_value":"7M27O5TRC5HVVGWM","created_at":"2026-07-05T05:04:23Z"},{"alias_kind":"pith_short_8","alias_value":"7M27O5TR","created_at":"2026-07-05T05:04:23Z"}],"graph_snapshots":[{"event_id":"sha256:53a0fb5965f5283735cf79fafc72d3d0e3da3e5c6a3dd2b02471028dfd6be441","target":"graph","created_at":"2026-07-05T05:04:23Z","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/2210.03704/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free paths toward the target position. However, such approaches may generate non-smooth paths that do not comply with the dynamics constraints of walking robots. It has been shown that the control barrier function (CBF) can be integrated with RRT/RRT* to synthesize dynamically feasible collision-free paths. Yet, existing work has been limited to simple circular or e","authors_text":"Ayonga Hereid, Chengyang Peng, Octavian Donca","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T17:14:32Z","title":"Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.03704","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:d1e821a3d2b331d135ecc187255bad7bf140ab860f1776ef29adf3418a411d13","target":"record","created_at":"2026-07-05T05:04:23Z","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":"fc750bb16a30ac9f855acae6a645dabf4f9ca16c6c54e02a0f166555776ac0e4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T17:14:32Z","title_canon_sha256":"f4793d4ab877bd63eab07950c932a21ee7060daea140ae4b753a422df6693892"},"schema_version":"1.0","source":{"id":"2210.03704","kind":"arxiv","version":1}},"canonical_sha256":"fb35f77671174f5a9acccdd8da438d8282309e82bbddd28198ff838b4a4d208d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fb35f77671174f5a9acccdd8da438d8282309e82bbddd28198ff838b4a4d208d","first_computed_at":"2026-07-05T05:04:23.280295Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:04:23.280295Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xmgBUiOGsf7Px+JuocWQVikbr3ilOGhjAlIHTRMz7c8tm1G0+L2KusLzw2gPyswTK68TriFJ/8Diu2WAGjV4Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:04:23.280742Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.03704","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d1e821a3d2b331d135ecc187255bad7bf140ab860f1776ef29adf3418a411d13","sha256:53a0fb5965f5283735cf79fafc72d3d0e3da3e5c6a3dd2b02471028dfd6be441"],"state_sha256":"596cee758eb540136b23cbd41e08f733fcf9a8eace0214057be20a0f8cddd7b5"}