{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:AC4A53J7IWACPP3LYQ64LCXN4I","short_pith_number":"pith:AC4A53J7","canonical_record":{"source":{"id":"2605.27699","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T21:20:09Z","cross_cats_sorted":[],"title_canon_sha256":"0b9e93691b4666fc20e63fe62b4003e603095c37a986835fbd20d13b01431b68","abstract_canon_sha256":"637484785af927ded11a51d677ab7772b3f03ccbf3d09b17454d92c6402bad42"},"schema_version":"1.0"},"canonical_sha256":"00b80eed3f458027bf6bc43dc58aede210d890e43666fcf2c14996596c7163c0","source":{"kind":"arxiv","id":"2605.27699","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.27699","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.27699v1","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.27699","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_12","alias_value":"AC4A53J7IWAC","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_16","alias_value":"AC4A53J7IWACPP3L","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_8","alias_value":"AC4A53J7","created_at":"2026-05-28T01:04:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:AC4A53J7IWACPP3LYQ64LCXN4I","target":"record","payload":{"canonical_record":{"source":{"id":"2605.27699","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T21:20:09Z","cross_cats_sorted":[],"title_canon_sha256":"0b9e93691b4666fc20e63fe62b4003e603095c37a986835fbd20d13b01431b68","abstract_canon_sha256":"637484785af927ded11a51d677ab7772b3f03ccbf3d09b17454d92c6402bad42"},"schema_version":"1.0"},"canonical_sha256":"00b80eed3f458027bf6bc43dc58aede210d890e43666fcf2c14996596c7163c0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-28T01:04:46.552971Z","signature_b64":"yjqf0KPQzEijmtn1HKYuhy2v9Ux87wH8OXnBr3FZOOSTfL3/gA4MufxVO8omod36LhTK25nBsivMC7eNaOqaCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"00b80eed3f458027bf6bc43dc58aede210d890e43666fcf2c14996596c7163c0","last_reissued_at":"2026-05-28T01:04:46.552569Z","signature_status":"signed_v1","first_computed_at":"2026-05-28T01:04:46.552569Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.27699","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":"2026-05-28T01:04:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bn3p9VwJ4DlCZgZooxpvfQyDTpO0ZMEtyJMzGp2meBE3lsHLVX7JIK8N7OwpYKD0ImcB13hidVzBc6M1B9OtBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T23:08:54.513881Z"},"content_sha256":"adb71fd8846a979ef894beff200790c430617b8814a99e342780d26386c61d40","schema_version":"1.0","event_id":"sha256:adb71fd8846a979ef894beff200790c430617b8814a99e342780d26386c61d40"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:AC4A53J7IWACPP3LYQ64LCXN4I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Constantinos Chamzas, Donghyung Lee, Seyedali Golestaneh, Zhuoyun Zhong","submitted_at":"2026-05-26T21:20:09Z","abstract_excerpt":"Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring execution to begin only after the trajectory has been computed. In addition, the planned trajectory may not be accurately tracked in the presence of motion uncertainty, leading to deviations from the nominal solution. In this work, these limitations were addressed within a unified framework, \\method, an asymptotically-optimal meta-planner framework that improves"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.27699","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/2605.27699/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":"2026-05-28T01:04:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kkmy2Ilqs1ATp/ny2l5pX6EBPcG24c/+VHElf/Yv37A8CAlT0/nKNkvonALjh2p6NhBTeNxZuLgUfFxVSRnlBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T23:08:54.514631Z"},"content_sha256":"6f74387659450cd23498afea9ace0eac66029c2b4a6a370c4262169f23094b54","schema_version":"1.0","event_id":"sha256:6f74387659450cd23498afea9ace0eac66029c2b4a6a370c4262169f23094b54"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AC4A53J7IWACPP3LYQ64LCXN4I/bundle.json","state_url":"https://pith.science/pith/AC4A53J7IWACPP3LYQ64LCXN4I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AC4A53J7IWACPP3LYQ64LCXN4I/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":"2026-05-31T23:08:54Z","links":{"resolver":"https://pith.science/pith/AC4A53J7IWACPP3LYQ64LCXN4I","bundle":"https://pith.science/pith/AC4A53J7IWACPP3LYQ64LCXN4I/bundle.json","state":"https://pith.science/pith/AC4A53J7IWACPP3LYQ64LCXN4I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AC4A53J7IWACPP3LYQ64LCXN4I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AC4A53J7IWACPP3LYQ64LCXN4I","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":"637484785af927ded11a51d677ab7772b3f03ccbf3d09b17454d92c6402bad42","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T21:20:09Z","title_canon_sha256":"0b9e93691b4666fc20e63fe62b4003e603095c37a986835fbd20d13b01431b68"},"schema_version":"1.0","source":{"id":"2605.27699","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.27699","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.27699v1","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.27699","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_12","alias_value":"AC4A53J7IWAC","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_16","alias_value":"AC4A53J7IWACPP3L","created_at":"2026-05-28T01:04:46Z"},{"alias_kind":"pith_short_8","alias_value":"AC4A53J7","created_at":"2026-05-28T01:04:46Z"}],"graph_snapshots":[{"event_id":"sha256:6f74387659450cd23498afea9ace0eac66029c2b4a6a370c4262169f23094b54","target":"graph","created_at":"2026-05-28T01:04:46Z","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/2605.27699/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring execution to begin only after the trajectory has been computed. In addition, the planned trajectory may not be accurately tracked in the presence of motion uncertainty, leading to deviations from the nominal solution. In this work, these limitations were addressed within a unified framework, \\method, an asymptotically-optimal meta-planner framework that improves","authors_text":"Constantinos Chamzas, Donghyung Lee, Seyedali Golestaneh, Zhuoyun Zhong","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T21:20:09Z","title":"AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.27699","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:adb71fd8846a979ef894beff200790c430617b8814a99e342780d26386c61d40","target":"record","created_at":"2026-05-28T01:04:46Z","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":"637484785af927ded11a51d677ab7772b3f03ccbf3d09b17454d92c6402bad42","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T21:20:09Z","title_canon_sha256":"0b9e93691b4666fc20e63fe62b4003e603095c37a986835fbd20d13b01431b68"},"schema_version":"1.0","source":{"id":"2605.27699","kind":"arxiv","version":1}},"canonical_sha256":"00b80eed3f458027bf6bc43dc58aede210d890e43666fcf2c14996596c7163c0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"00b80eed3f458027bf6bc43dc58aede210d890e43666fcf2c14996596c7163c0","first_computed_at":"2026-05-28T01:04:46.552569Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-28T01:04:46.552569Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yjqf0KPQzEijmtn1HKYuhy2v9Ux87wH8OXnBr3FZOOSTfL3/gA4MufxVO8omod36LhTK25nBsivMC7eNaOqaCw==","signature_status":"signed_v1","signed_at":"2026-05-28T01:04:46.552971Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.27699","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:adb71fd8846a979ef894beff200790c430617b8814a99e342780d26386c61d40","sha256:6f74387659450cd23498afea9ace0eac66029c2b4a6a370c4262169f23094b54"],"state_sha256":"1f4b5f397cae044b960f0cede0ecb0445465c336c839130bd86214210a34c1be"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9mggXjjFiOkkSA0Fymhw74EtIb4vvhz7hUZMDxRA+G4z2JAmxb7Z0DkPXDwODUNDjV1XxQ1tjilGlLdk+pZ5Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T23:08:54.518754Z","bundle_sha256":"33feb1b862b780bf8682dccc6bdb44586c85b3c39143a8584eddfe4436059d85"}}