{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:AVPHLD5YVQDQCJZBMVEI5GFCF6","short_pith_number":"pith:AVPHLD5Y","canonical_record":{"source":{"id":"2201.05812","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-15T09:43:30Z","cross_cats_sorted":[],"title_canon_sha256":"d8f97af2a225df64458bb63ec58d0b51beafa4b7a1e6998e7c491d2dd5e7670b","abstract_canon_sha256":"58db54fee0969741bca16c87f026ec3fbf8b2fb88b1d46f7511946e7e9c6d5cc"},"schema_version":"1.0"},"canonical_sha256":"055e758fb8ac0701272165488e98a22fa4de8801ffcacdf0fb9464657c826229","source":{"kind":"arxiv","id":"2201.05812","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.05812","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"arxiv_version","alias_value":"2201.05812v2","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.05812","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_12","alias_value":"AVPHLD5YVQDQ","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_16","alias_value":"AVPHLD5YVQDQCJZB","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_8","alias_value":"AVPHLD5Y","created_at":"2026-07-05T04:39:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:AVPHLD5YVQDQCJZBMVEI5GFCF6","target":"record","payload":{"canonical_record":{"source":{"id":"2201.05812","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-15T09:43:30Z","cross_cats_sorted":[],"title_canon_sha256":"d8f97af2a225df64458bb63ec58d0b51beafa4b7a1e6998e7c491d2dd5e7670b","abstract_canon_sha256":"58db54fee0969741bca16c87f026ec3fbf8b2fb88b1d46f7511946e7e9c6d5cc"},"schema_version":"1.0"},"canonical_sha256":"055e758fb8ac0701272165488e98a22fa4de8801ffcacdf0fb9464657c826229","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:39:27.134632Z","signature_b64":"xM9GuDPOiWkGXCVmR9rGqgm270maELhPYO1Fd0aUsaJlagGX2Sm516eLFe17+bTsAWaA6otpJwkaFWbR7CVqDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"055e758fb8ac0701272165488e98a22fa4de8801ffcacdf0fb9464657c826229","last_reissued_at":"2026-07-05T04:39:27.134102Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:39:27.134102Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2201.05812","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:39:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"++Z2kkt6T0JeVncRa+8xePVxq8y5HSbqU9f+PRoPzCZDD7jmAjoi2MO/Q/U/cD6oQrsUPEHMc2n+rNKOeeMaCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T13:37:51.421615Z"},"content_sha256":"a96d5cf33fd3455df0fc863942208a116a440426dc7ac4f290409fe3223464cd","schema_version":"1.0","event_id":"sha256:a96d5cf33fd3455df0fc863942208a116a440426dc7ac4f290409fe3223464cd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:AVPHLD5YVQDQCJZBMVEI5GFCF6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ChevOpt: Continuous-time State Estimation by Chebyshev Polynomial Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Maoran Zhu, Yuanxin Wu","submitted_at":"2022-01-15T09:43:30Z","abstract_excerpt":"In this paper, a new framework for continuous-time maximum a posteriori estimation based on the Chebyshev polynomial optimization (ChevOpt) is proposed, which transforms the nonlinear continuous-time state estimation into a problem of constant parameter optimization. Specifically, the time-varying system state is represented by a Chebyshev polynomial and the unknown Chebyshev coefficients are optimized by minimizing the weighted sum of the prior, dynamics and measurements. The proposed ChevOpt is an optimal continuous-time estimation in the least squares sense and needs a batch processing. A r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.05812","kind":"arxiv","version":2},"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/2201.05812/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":"2026-07-05T04:39:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"79uyWJdG3VcCf2C3K09PAzzKaZtlVVpyZp6tOo0XOSj5YKaS/RPgyKx5nP83lFTG4kyJcqejlDP1GqDiQXK4BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T13:37:51.422493Z"},"content_sha256":"b915deb11adfbfde1ded8305e79543097b4eafb1acd76f834871aa6263f50ba5","schema_version":"1.0","event_id":"sha256:b915deb11adfbfde1ded8305e79543097b4eafb1acd76f834871aa6263f50ba5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/bundle.json","state_url":"https://pith.science/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/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":"2026-08-23T13:37:51Z","links":{"resolver":"https://pith.science/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6","bundle":"https://pith.science/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/bundle.json","state":"https://pith.science/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AVPHLD5YVQDQCJZBMVEI5GFCF6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:AVPHLD5YVQDQCJZBMVEI5GFCF6","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":"58db54fee0969741bca16c87f026ec3fbf8b2fb88b1d46f7511946e7e9c6d5cc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-15T09:43:30Z","title_canon_sha256":"d8f97af2a225df64458bb63ec58d0b51beafa4b7a1e6998e7c491d2dd5e7670b"},"schema_version":"1.0","source":{"id":"2201.05812","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.05812","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"arxiv_version","alias_value":"2201.05812v2","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.05812","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_12","alias_value":"AVPHLD5YVQDQ","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_16","alias_value":"AVPHLD5YVQDQCJZB","created_at":"2026-07-05T04:39:27Z"},{"alias_kind":"pith_short_8","alias_value":"AVPHLD5Y","created_at":"2026-07-05T04:39:27Z"}],"graph_snapshots":[{"event_id":"sha256:b915deb11adfbfde1ded8305e79543097b4eafb1acd76f834871aa6263f50ba5","target":"graph","created_at":"2026-07-05T04:39:27Z","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/2201.05812/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, a new framework for continuous-time maximum a posteriori estimation based on the Chebyshev polynomial optimization (ChevOpt) is proposed, which transforms the nonlinear continuous-time state estimation into a problem of constant parameter optimization. Specifically, the time-varying system state is represented by a Chebyshev polynomial and the unknown Chebyshev coefficients are optimized by minimizing the weighted sum of the prior, dynamics and measurements. The proposed ChevOpt is an optimal continuous-time estimation in the least squares sense and needs a batch processing. A r","authors_text":"Maoran Zhu, Yuanxin Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-15T09:43:30Z","title":"ChevOpt: Continuous-time State Estimation by Chebyshev Polynomial Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.05812","kind":"arxiv","version":2},"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:a96d5cf33fd3455df0fc863942208a116a440426dc7ac4f290409fe3223464cd","target":"record","created_at":"2026-07-05T04:39:27Z","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":"58db54fee0969741bca16c87f026ec3fbf8b2fb88b1d46f7511946e7e9c6d5cc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-15T09:43:30Z","title_canon_sha256":"d8f97af2a225df64458bb63ec58d0b51beafa4b7a1e6998e7c491d2dd5e7670b"},"schema_version":"1.0","source":{"id":"2201.05812","kind":"arxiv","version":2}},"canonical_sha256":"055e758fb8ac0701272165488e98a22fa4de8801ffcacdf0fb9464657c826229","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"055e758fb8ac0701272165488e98a22fa4de8801ffcacdf0fb9464657c826229","first_computed_at":"2026-07-05T04:39:27.134102Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:39:27.134102Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xM9GuDPOiWkGXCVmR9rGqgm270maELhPYO1Fd0aUsaJlagGX2Sm516eLFe17+bTsAWaA6otpJwkaFWbR7CVqDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:39:27.134632Z","signed_message":"canonical_sha256_bytes"},"source_id":"2201.05812","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a96d5cf33fd3455df0fc863942208a116a440426dc7ac4f290409fe3223464cd","sha256:b915deb11adfbfde1ded8305e79543097b4eafb1acd76f834871aa6263f50ba5"],"state_sha256":"863f8559b4a386b03e3546640cf0b33f108796ca52d3d2182f5c4ef78e3ba36f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pACfhjQBjfbYaldTRKLwhNhM5qX/RMeQ2O5GzeKiJLSrqjs7Nk8I21ynJebM8/Jfd8e6jHeB3bC7s3glNNeYAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T13:37:51.428117Z","bundle_sha256":"567a1c38293ffb9287823ad789440e43200e660dddd40fa3e6bbfc353fabe099"}}