{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:7QY6SUJ4G6NVS5EON6ZPWC4CTL","short_pith_number":"pith:7QY6SUJ4","canonical_record":{"source":{"id":"2504.07841","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2025-04-10T15:21:23Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"9072ea04b55542aaa83d6f0280bc6fae2a35801bd1e8cf732a57fa650b3cd704","abstract_canon_sha256":"11e0a0239bef728452abb59680cc52b6989b6d85bd48a4ac1c4d297757314ff7"},"schema_version":"1.0"},"canonical_sha256":"fc31e9513c379b59748e6fb2fb0b829ac34ebebb8dd42be791e73b7399a991a2","source":{"kind":"arxiv","id":"2504.07841","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.07841","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"arxiv_version","alias_value":"2504.07841v1","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.07841","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_12","alias_value":"7QY6SUJ4G6NV","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_16","alias_value":"7QY6SUJ4G6NVS5EO","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_8","alias_value":"7QY6SUJ4","created_at":"2026-07-05T10:47:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:7QY6SUJ4G6NVS5EON6ZPWC4CTL","target":"record","payload":{"canonical_record":{"source":{"id":"2504.07841","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2025-04-10T15:21:23Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"9072ea04b55542aaa83d6f0280bc6fae2a35801bd1e8cf732a57fa650b3cd704","abstract_canon_sha256":"11e0a0239bef728452abb59680cc52b6989b6d85bd48a4ac1c4d297757314ff7"},"schema_version":"1.0"},"canonical_sha256":"fc31e9513c379b59748e6fb2fb0b829ac34ebebb8dd42be791e73b7399a991a2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:47:15.655812Z","signature_b64":"ZgjkQTxHMvvXQazSTfmFcqdt+FGPZj3tIPxyFmEhfIHh1UA0r+3IzBXev7KC6QZjtdMb6fygfu/NeAEdFyLNAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fc31e9513c379b59748e6fb2fb0b829ac34ebebb8dd42be791e73b7399a991a2","last_reissued_at":"2026-07-05T10:47:15.655320Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:47:15.655320Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.07841","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":"2026-07-05T10:47:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0XJZ2h5uwI5UcAhQt1c3sDQzhE4hjuTbj4UhYB4KqtLGrgG57trCa7eCVZMQHQoSQhrin394PbJAp4c8dIRSBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T21:22:18.988627Z"},"content_sha256":"e8359d9282a5a7310a1a5627093469a8f3f5752838696fd7ac8a008e80828a18","schema_version":"1.0","event_id":"sha256:e8359d9282a5a7310a1a5627093469a8f3f5752838696fd7ac8a008e80828a18"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:7QY6SUJ4G6NVS5EON6ZPWC4CTL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Anytime Single-Step MAPF Planning with Anytime PIBT","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.AI","authors_text":"Daniel Harabor, Jiaoyang Li, Maxim Likhachev, Muhammad Suhail Saleem, Nayesha Gandotra, Rishi Veerapaneni","submitted_at":"2025-04-10T15:21:23Z","abstract_excerpt":"PIBT is a popular Multi-Agent Path Finding (MAPF) method at the core of many state-of-the-art MAPF methods including LaCAM, CS-PIBT, and WPPL. The main utility of PIBT is that it is a very fast and effective single-step MAPF solver and can return a collision-free single-step solution for hundreds of agents in less than a millisecond. However, the main drawback of PIBT is that it is extremely greedy in respect to its priorities and thus leads to poor solution quality. Additionally, PIBT cannot use all the planning time that might be available to it and returns the first solution it finds. We th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.07841","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/2504.07841/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":"2026-07-05T10:47:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YKXv0vBtt+1JveT8SBClyNwKtLVjtnKFTchPmGDUYiW/xuxfKHma0o9fNVLZtIyvNPxAWdiM1yIxuZbAghG0Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T21:22:18.989527Z"},"content_sha256":"1b4018579e8a2bc102fe17060879566a5681f728a6ab4c2ab0f220331a44d5d5","schema_version":"1.0","event_id":"sha256:1b4018579e8a2bc102fe17060879566a5681f728a6ab4c2ab0f220331a44d5d5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/bundle.json","state_url":"https://pith.science/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/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":"2026-08-09T21:22:18Z","links":{"resolver":"https://pith.science/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL","bundle":"https://pith.science/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/bundle.json","state":"https://pith.science/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7QY6SUJ4G6NVS5EON6ZPWC4CTL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:7QY6SUJ4G6NVS5EON6ZPWC4CTL","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":"11e0a0239bef728452abb59680cc52b6989b6d85bd48a4ac1c4d297757314ff7","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2025-04-10T15:21:23Z","title_canon_sha256":"9072ea04b55542aaa83d6f0280bc6fae2a35801bd1e8cf732a57fa650b3cd704"},"schema_version":"1.0","source":{"id":"2504.07841","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.07841","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"arxiv_version","alias_value":"2504.07841v1","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.07841","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_12","alias_value":"7QY6SUJ4G6NV","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_16","alias_value":"7QY6SUJ4G6NVS5EO","created_at":"2026-07-05T10:47:15Z"},{"alias_kind":"pith_short_8","alias_value":"7QY6SUJ4","created_at":"2026-07-05T10:47:15Z"}],"graph_snapshots":[{"event_id":"sha256:1b4018579e8a2bc102fe17060879566a5681f728a6ab4c2ab0f220331a44d5d5","target":"graph","created_at":"2026-07-05T10:47:15Z","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/2504.07841/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"PIBT is a popular Multi-Agent Path Finding (MAPF) method at the core of many state-of-the-art MAPF methods including LaCAM, CS-PIBT, and WPPL. The main utility of PIBT is that it is a very fast and effective single-step MAPF solver and can return a collision-free single-step solution for hundreds of agents in less than a millisecond. However, the main drawback of PIBT is that it is extremely greedy in respect to its priorities and thus leads to poor solution quality. Additionally, PIBT cannot use all the planning time that might be available to it and returns the first solution it finds. We th","authors_text":"Daniel Harabor, Jiaoyang Li, Maxim Likhachev, Muhammad Suhail Saleem, Nayesha Gandotra, Rishi Veerapaneni","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2025-04-10T15:21:23Z","title":"Anytime Single-Step MAPF Planning with Anytime PIBT"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.07841","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:e8359d9282a5a7310a1a5627093469a8f3f5752838696fd7ac8a008e80828a18","target":"record","created_at":"2026-07-05T10:47:15Z","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":"11e0a0239bef728452abb59680cc52b6989b6d85bd48a4ac1c4d297757314ff7","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2025-04-10T15:21:23Z","title_canon_sha256":"9072ea04b55542aaa83d6f0280bc6fae2a35801bd1e8cf732a57fa650b3cd704"},"schema_version":"1.0","source":{"id":"2504.07841","kind":"arxiv","version":1}},"canonical_sha256":"fc31e9513c379b59748e6fb2fb0b829ac34ebebb8dd42be791e73b7399a991a2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fc31e9513c379b59748e6fb2fb0b829ac34ebebb8dd42be791e73b7399a991a2","first_computed_at":"2026-07-05T10:47:15.655320Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:47:15.655320Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZgjkQTxHMvvXQazSTfmFcqdt+FGPZj3tIPxyFmEhfIHh1UA0r+3IzBXev7KC6QZjtdMb6fygfu/NeAEdFyLNAA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:47:15.655812Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.07841","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e8359d9282a5a7310a1a5627093469a8f3f5752838696fd7ac8a008e80828a18","sha256:1b4018579e8a2bc102fe17060879566a5681f728a6ab4c2ab0f220331a44d5d5"],"state_sha256":"5be5f072f61946b185ec8a8dc78c07ea11f6fd9a55a2b1261abfc78f71b72660"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5cGMrLZEfJdGmVTB6fvK+GhE8BooRoHorVLrKlVO0pQ98bMO1ipYCJNEvweb1HV3N/YK77IKlCRjV4NJe2q5Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T21:22:18.995226Z","bundle_sha256":"548fc80b7d86a0ac3e8a1dd7ed5564568e2f66ae9ae7442f45ea03643a9fdb7b"}}