{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:BAHZ27X3BENAHDV3RGMZX3TRA7","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":"b1469b547c4c4875c86d9b6dfecb534d3e8a6c9dcceca8b6c7804b0240813b28","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-21T16:05:49Z","title_canon_sha256":"376fe2b6fec121abb278e2ff4082aca23ed550e88b0d1a24cda1b9f9f91fc051"},"schema_version":"1.0","source":{"id":"1607.06374","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.06374","created_at":"2026-05-18T01:04:18Z"},{"alias_kind":"arxiv_version","alias_value":"1607.06374v2","created_at":"2026-05-18T01:04:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.06374","created_at":"2026-05-18T01:04:18Z"},{"alias_kind":"pith_short_12","alias_value":"BAHZ27X3BENA","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BAHZ27X3BENAHDV3","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BAHZ27X3","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:985580d059e6173cc31d51c1dbbae42392c47b91b484ae30f8dc1637333117d6","target":"graph","created_at":"2026-05-18T01:04:18Z","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"},"paper":{"abstract_excerpt":"Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes) and a microscopic viewpoint (i.e., locally optimizing path quality). We introduce Interleaved Optimization with Sampling-based Motion Planning (IOS-MP), a new method that effectively combines global exploration and local optimization to quickly compute high quality motion plans. Our approach combines two paradigms: (1) asymptotically-optimal sampling-based m","authors_text":"Alan Kuntz, Chris Bowen, Ron Alterovitz","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-21T16:05:49Z","title":"Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.06374","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:c05312c73989f3236272fe7e568c29b3a2c3774b44ba19c2245c8c283363c6ec","target":"record","created_at":"2026-05-18T01:04:18Z","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":"b1469b547c4c4875c86d9b6dfecb534d3e8a6c9dcceca8b6c7804b0240813b28","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-21T16:05:49Z","title_canon_sha256":"376fe2b6fec121abb278e2ff4082aca23ed550e88b0d1a24cda1b9f9f91fc051"},"schema_version":"1.0","source":{"id":"1607.06374","kind":"arxiv","version":2}},"canonical_sha256":"080f9d7efb091a038ebb89999bee7107ed2214884e42282394e33accec3f69cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"080f9d7efb091a038ebb89999bee7107ed2214884e42282394e33accec3f69cf","first_computed_at":"2026-05-18T01:04:18.057449Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:04:18.057449Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6hLlnRx+j1utdJvdoic5qwJ6nZVPxBQCMVRSiq2iRKS9j+IJrpzL3MyiH6ulF6Iv/TlNmQSkUTgl7wpsv05mDA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:04:18.057823Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.06374","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c05312c73989f3236272fe7e568c29b3a2c3774b44ba19c2245c8c283363c6ec","sha256:985580d059e6173cc31d51c1dbbae42392c47b91b484ae30f8dc1637333117d6"],"state_sha256":"a46dca34f54b0f9c360832c1585acbde93f1ae1ce3769c5bf55e1f08362eedac"}