{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:ABUFBCOVB4OSLJ5NFKLARSIGG2","short_pith_number":"pith:ABUFBCOV","schema_version":"1.0","canonical_sha256":"00685089d50f1d25a7ad2a9608c90636bdf6324194f7617d9a3d421a48e61cbb","source":{"kind":"arxiv","id":"2201.04314","version":3},"attestation_state":"computed","paper":{"title":"Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Michael Yip, Mrinal Verghese, Nikhil Das, Yuheng Zhi","submitted_at":"2022-01-12T05:38:57Z","abstract_excerpt":"Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a large portion of the computational time in robot motion planning. Existing collision checkers make trade-offs between speed and accuracy and scale poorly to high-dimensional, complex environments. We present a novel space decomposition method using K-Means clustering in the Forward Kinematics space to accelerate proxy collision checking. We train individual con"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2201.04314","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-01-12T05:38:57Z","cross_cats_sorted":[],"title_canon_sha256":"922d8285121fcda4e195d5239ba0112b23df0179da7dca548bf2f7f48c20829e","abstract_canon_sha256":"fc293edde63ae3d5b4cb552d1d92e49a9b82f0d416b18408f0f77a4a1df4c8f9"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:30:40.086752Z","signature_b64":"7hoY3YxkO5fvspRhVcfac6f1D0UUhcPhSpMz1TYn6zFXB/pEucnIhBWr3gw/5TASqGanfl70mKPkHt+Ja77TCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"00685089d50f1d25a7ad2a9608c90636bdf6324194f7617d9a3d421a48e61cbb","last_reissued_at":"2026-07-05T04:30:40.086254Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:30:40.086254Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Michael Yip, Mrinal Verghese, Nikhil Das, Yuheng Zhi","submitted_at":"2022-01-12T05:38:57Z","abstract_excerpt":"Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a large portion of the computational time in robot motion planning. Existing collision checkers make trade-offs between speed and accuracy and scale poorly to high-dimensional, complex environments. We present a novel space decomposition method using K-Means clustering in the Forward Kinematics space to accelerate proxy collision checking. We train individual con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.04314","kind":"arxiv","version":3},"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/2201.04314/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2201.04314","created_at":"2026-07-05T04:30:40.086321+00:00"},{"alias_kind":"arxiv_version","alias_value":"2201.04314v3","created_at":"2026-07-05T04:30:40.086321+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.04314","created_at":"2026-07-05T04:30:40.086321+00:00"},{"alias_kind":"pith_short_12","alias_value":"ABUFBCOVB4OS","created_at":"2026-07-05T04:30:40.086321+00:00"},{"alias_kind":"pith_short_16","alias_value":"ABUFBCOVB4OSLJ5N","created_at":"2026-07-05T04:30:40.086321+00:00"},{"alias_kind":"pith_short_8","alias_value":"ABUFBCOV","created_at":"2026-07-05T04:30:40.086321+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2","json":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2.json","graph_json":"https://pith.science/api/pith-number/ABUFBCOVB4OSLJ5NFKLARSIGG2/graph.json","events_json":"https://pith.science/api/pith-number/ABUFBCOVB4OSLJ5NFKLARSIGG2/events.json","paper":"https://pith.science/paper/ABUFBCOV"},"agent_actions":{"view_html":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2","download_json":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2.json","view_paper":"https://pith.science/paper/ABUFBCOV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2201.04314&json=true","fetch_graph":"https://pith.science/api/pith-number/ABUFBCOVB4OSLJ5NFKLARSIGG2/graph.json","fetch_events":"https://pith.science/api/pith-number/ABUFBCOVB4OSLJ5NFKLARSIGG2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2/action/storage_attestation","attest_author":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2/action/author_attestation","sign_citation":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2/action/citation_signature","submit_replication":"https://pith.science/pith/ABUFBCOVB4OSLJ5NFKLARSIGG2/action/replication_record"}},"created_at":"2026-07-05T04:30:40.086321+00:00","updated_at":"2026-07-05T04:30:40.086321+00:00"}