{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:C6UTMFX6ICFIXW2RLTLTEXQVOC","short_pith_number":"pith:C6UTMFX6","schema_version":"1.0","canonical_sha256":"17a93616fe408a8bdb515cd7325e1570bfa1934262b9133861c79fca8206b46c","source":{"kind":"arxiv","id":"2403.11298","version":1},"attestation_state":"computed","paper":{"title":"Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brian Hou, Byron Boots, Matt Schmittle, Rohan Baijal, Siddhartha Srinivasa","submitted_at":"2024-03-17T18:40:29Z","abstract_excerpt":"We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach for planning under sensing uncertainty is determinization, where one converts a stochastic world into a deterministic one and plans under this simplification. This makes the planning problem tractable, but the cost of following the planned path in the real world may be different than in the determinized world. This causes collisions if the determinized world o"},"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":"2403.11298","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-17T18:40:29Z","cross_cats_sorted":[],"title_canon_sha256":"63d25aafc221dabed5c14c1bde0388063f3e8e6cc2fc0d219cf5619889e1423f","abstract_canon_sha256":"bcbcf3ba9870f58766e0825cf5f42e5f9443c4c974a6d75123c3397772b42279"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:57:14.644722Z","signature_b64":"VEWHcuynrNWA0kNl+30rAoPCH1S0WFMAK59N4LQRSvfWuTWBAdF5h6nsymxsrHP461Ekl1RlkvSC4QP8iDTbBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"17a93616fe408a8bdb515cd7325e1570bfa1934262b9133861c79fca8206b46c","last_reissued_at":"2026-07-05T07:57:14.644368Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:57:14.644368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brian Hou, Byron Boots, Matt Schmittle, Rohan Baijal, Siddhartha Srinivasa","submitted_at":"2024-03-17T18:40:29Z","abstract_excerpt":"We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach for planning under sensing uncertainty is determinization, where one converts a stochastic world into a deterministic one and plans under this simplification. This makes the planning problem tractable, but the cost of following the planned path in the real world may be different than in the determinized world. This causes collisions if the determinized world o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.11298","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/2403.11298/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":"2403.11298","created_at":"2026-07-05T07:57:14.644423+00:00"},{"alias_kind":"arxiv_version","alias_value":"2403.11298v1","created_at":"2026-07-05T07:57:14.644423+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.11298","created_at":"2026-07-05T07:57:14.644423+00:00"},{"alias_kind":"pith_short_12","alias_value":"C6UTMFX6ICFI","created_at":"2026-07-05T07:57:14.644423+00:00"},{"alias_kind":"pith_short_16","alias_value":"C6UTMFX6ICFIXW2R","created_at":"2026-07-05T07:57:14.644423+00:00"},{"alias_kind":"pith_short_8","alias_value":"C6UTMFX6","created_at":"2026-07-05T07:57:14.644423+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/C6UTMFX6ICFIXW2RLTLTEXQVOC","json":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC.json","graph_json":"https://pith.science/api/pith-number/C6UTMFX6ICFIXW2RLTLTEXQVOC/graph.json","events_json":"https://pith.science/api/pith-number/C6UTMFX6ICFIXW2RLTLTEXQVOC/events.json","paper":"https://pith.science/paper/C6UTMFX6"},"agent_actions":{"view_html":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC","download_json":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC.json","view_paper":"https://pith.science/paper/C6UTMFX6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2403.11298&json=true","fetch_graph":"https://pith.science/api/pith-number/C6UTMFX6ICFIXW2RLTLTEXQVOC/graph.json","fetch_events":"https://pith.science/api/pith-number/C6UTMFX6ICFIXW2RLTLTEXQVOC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC/action/storage_attestation","attest_author":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC/action/author_attestation","sign_citation":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC/action/citation_signature","submit_replication":"https://pith.science/pith/C6UTMFX6ICFIXW2RLTLTEXQVOC/action/replication_record"}},"created_at":"2026-07-05T07:57:14.644423+00:00","updated_at":"2026-07-05T07:57:14.644423+00:00"}