{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:FS3BDS3PMBQBPVEMIKCLT7QGAE","short_pith_number":"pith:FS3BDS3P","canonical_record":{"source":{"id":"2403.12280","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T21:55:25Z","cross_cats_sorted":[],"title_canon_sha256":"64180e5149470fca8114c912af6e0e2e5a64b8580049686f7c05124c8e17f7d6","abstract_canon_sha256":"daaacbd3bba8d765933c41d8fba31516e00dcefc3bd1d63564cb2b772ac8d32f"},"schema_version":"1.0"},"canonical_sha256":"2cb611cb6f606017d48c4284b9fe060137315a7fa7a7fca60c5727dca08252ae","source":{"kind":"arxiv","id":"2403.12280","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.12280","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"arxiv_version","alias_value":"2403.12280v1","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.12280","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_12","alias_value":"FS3BDS3PMBQB","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_16","alias_value":"FS3BDS3PMBQBPVEM","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_8","alias_value":"FS3BDS3P","created_at":"2026-07-05T07:57:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:FS3BDS3PMBQBPVEMIKCLT7QGAE","target":"record","payload":{"canonical_record":{"source":{"id":"2403.12280","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T21:55:25Z","cross_cats_sorted":[],"title_canon_sha256":"64180e5149470fca8114c912af6e0e2e5a64b8580049686f7c05124c8e17f7d6","abstract_canon_sha256":"daaacbd3bba8d765933c41d8fba31516e00dcefc3bd1d63564cb2b772ac8d32f"},"schema_version":"1.0"},"canonical_sha256":"2cb611cb6f606017d48c4284b9fe060137315a7fa7a7fca60c5727dca08252ae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:57:58.233974Z","signature_b64":"ayFqrY17pBjqqnjp/hcQ9vTC85E5ZIdFkw7XL3IhH5DY44diOKSAJAk0PDp9giTBa2nWu5Bj9OrdzqVPJ3HiCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cb611cb6f606017d48c4284b9fe060137315a7fa7a7fca60c5727dca08252ae","last_reissued_at":"2026-07-05T07:57:58.233486Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:57:58.233486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.12280","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":"2026-07-05T07:57:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EfBknnLYjsMVXpNNV40G2gNqvM79E91JYEW0OjHLi/Z5cAcKOctkNWTeDTVPJuR2SCvg6xV8Zy1qrYq2rEe0AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T02:29:19.703852Z"},"content_sha256":"b08f59df54452c3bcef3ed1459f6d899be3628a61405830056ab24595692153a","schema_version":"1.0","event_id":"sha256:b08f59df54452c3bcef3ed1459f6d899be3628a61405830056ab24595692153a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:FS3BDS3PMBQBPVEMIKCLT7QGAE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Challen Enninful Adu, Jinsun Liu, Jonathan Michaux, Qingyi Chen, Ram Vasudevan","submitted_at":"2024-03-18T21:55:25Z","abstract_excerpt":"Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is completely executed. This becomes even more difficult if the trajectory is required to satisfy continuous-time collision-avoidance constraints while accounting for a large number of obstacles. To address these challenges, this paper proposes a novel real-time, receding-horizon motion planning algorithm named REachability-based trajectory Design via Exact Fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.12280","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/2403.12280/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":"2026-07-05T07:57:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iRFVtVhqa+egNNV7e0mRtHbCSiAwSzWddO7DPLyYBmhZa3qD2mZaEBJvLk5oobTd6UxsIiCQX4sQWOTs+Yk3DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T02:29:19.704346Z"},"content_sha256":"4480db12322deaecb95b1f9464aec4d5662d4954e5e9d321cefc60e8e074bdfc","schema_version":"1.0","event_id":"sha256:4480db12322deaecb95b1f9464aec4d5662d4954e5e9d321cefc60e8e074bdfc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/bundle.json","state_url":"https://pith.science/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/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":"2026-08-07T02:29:19Z","links":{"resolver":"https://pith.science/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE","bundle":"https://pith.science/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/bundle.json","state":"https://pith.science/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FS3BDS3PMBQBPVEMIKCLT7QGAE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:FS3BDS3PMBQBPVEMIKCLT7QGAE","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":"daaacbd3bba8d765933c41d8fba31516e00dcefc3bd1d63564cb2b772ac8d32f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T21:55:25Z","title_canon_sha256":"64180e5149470fca8114c912af6e0e2e5a64b8580049686f7c05124c8e17f7d6"},"schema_version":"1.0","source":{"id":"2403.12280","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.12280","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"arxiv_version","alias_value":"2403.12280v1","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.12280","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_12","alias_value":"FS3BDS3PMBQB","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_16","alias_value":"FS3BDS3PMBQBPVEM","created_at":"2026-07-05T07:57:58Z"},{"alias_kind":"pith_short_8","alias_value":"FS3BDS3P","created_at":"2026-07-05T07:57:58Z"}],"graph_snapshots":[{"event_id":"sha256:4480db12322deaecb95b1f9464aec4d5662d4954e5e9d321cefc60e8e074bdfc","target":"graph","created_at":"2026-07-05T07:57:58Z","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/2403.12280/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is completely executed. This becomes even more difficult if the trajectory is required to satisfy continuous-time collision-avoidance constraints while accounting for a large number of obstacles. To address these challenges, this paper proposes a novel real-time, receding-horizon motion planning algorithm named REachability-based trajectory Design via Exact Fo","authors_text":"Challen Enninful Adu, Jinsun Liu, Jonathan Michaux, Qingyi Chen, Ram Vasudevan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T21:55:25Z","title":"Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.12280","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:b08f59df54452c3bcef3ed1459f6d899be3628a61405830056ab24595692153a","target":"record","created_at":"2026-07-05T07:57:58Z","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":"daaacbd3bba8d765933c41d8fba31516e00dcefc3bd1d63564cb2b772ac8d32f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-18T21:55:25Z","title_canon_sha256":"64180e5149470fca8114c912af6e0e2e5a64b8580049686f7c05124c8e17f7d6"},"schema_version":"1.0","source":{"id":"2403.12280","kind":"arxiv","version":1}},"canonical_sha256":"2cb611cb6f606017d48c4284b9fe060137315a7fa7a7fca60c5727dca08252ae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cb611cb6f606017d48c4284b9fe060137315a7fa7a7fca60c5727dca08252ae","first_computed_at":"2026-07-05T07:57:58.233486Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:57:58.233486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ayFqrY17pBjqqnjp/hcQ9vTC85E5ZIdFkw7XL3IhH5DY44diOKSAJAk0PDp9giTBa2nWu5Bj9OrdzqVPJ3HiCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:57:58.233974Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.12280","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b08f59df54452c3bcef3ed1459f6d899be3628a61405830056ab24595692153a","sha256:4480db12322deaecb95b1f9464aec4d5662d4954e5e9d321cefc60e8e074bdfc"],"state_sha256":"81e38fce5d8636ed7f4831c12802fd58b7b9a2ed2abfebe315a2ec6f8ba0b5b1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dyfviNabBDrmLu/zl/UNj1JPUXzhyvKyenRyGx+i9vwihPp/j2CewUBekn3dX7qwGJAWHSrlwAsR1LbjtwzXCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T02:29:19.709144Z","bundle_sha256":"4f0c9e1df9b465671bf1987843ae93ca73240dcc67ab07e0dc9234b0c90d42c0"}}