{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:JW6ZT2TM3NJYBE4JYHBB6P4KFQ","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":"303cbcdb3cfe0442b9fbed7460e2601b902bde0eda9e4501e50a5cff6b262ba5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-24T12:39:36Z","title_canon_sha256":"da9b18b4bc980245c95ee07d2f033745554f83fb665da2235e783e2df7a17a83"},"schema_version":"1.0","source":{"id":"2304.12046","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.12046","created_at":"2026-07-05T07:49:31Z"},{"alias_kind":"arxiv_version","alias_value":"2304.12046v3","created_at":"2026-07-05T07:49:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.12046","created_at":"2026-07-05T07:49:31Z"},{"alias_kind":"pith_short_12","alias_value":"JW6ZT2TM3NJY","created_at":"2026-07-05T07:49:31Z"},{"alias_kind":"pith_short_16","alias_value":"JW6ZT2TM3NJYBE4J","created_at":"2026-07-05T07:49:31Z"},{"alias_kind":"pith_short_8","alias_value":"JW6ZT2TM","created_at":"2026-07-05T07:49:31Z"}],"graph_snapshots":[{"event_id":"sha256:ce22bc7906ad2664cb11afdf21533fd400eb6a2d9492862427c71de5ddce1b28","target":"graph","created_at":"2026-07-05T07:49:31Z","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/2304.12046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built map, the local planner produces a kinodynamic trajectory to follow the reference path while avoiding perceived obstacles. To account for unforeseen or dynamic obstacles not present on the pre-built map, ``when to replan'' the reference path is critical for the success of safe and efficient navigation. However, determining the ideal timing to execute replanning ","authors_text":"Kohei Honda, Mai Nishimura, Ryo Yonetani, Tadashi Kozuno","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-24T12:39:36Z","title":"When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.12046","kind":"arxiv","version":3},"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:de06fd8170f6cdf511b365ec389e1b5fb2f358f3ca278d6feb2552b4d98f9fb8","target":"record","created_at":"2026-07-05T07:49:31Z","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":"303cbcdb3cfe0442b9fbed7460e2601b902bde0eda9e4501e50a5cff6b262ba5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-04-24T12:39:36Z","title_canon_sha256":"da9b18b4bc980245c95ee07d2f033745554f83fb665da2235e783e2df7a17a83"},"schema_version":"1.0","source":{"id":"2304.12046","kind":"arxiv","version":3}},"canonical_sha256":"4dbd99ea6cdb53809389c1c21f3f8a2c3f0356fa2bdfc40d2d5c03e8f8fc2f81","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4dbd99ea6cdb53809389c1c21f3f8a2c3f0356fa2bdfc40d2d5c03e8f8fc2f81","first_computed_at":"2026-07-05T07:49:31.274465Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:49:31.274465Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RzGHVV0UiOZsNz3EAF/zyttg6QQLTrhN3S7xdLZyw/y5zPO/xMLPuElFYOPtOB+MKAt45XlP0nPIaVTTbppIBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:49:31.274943Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.12046","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:de06fd8170f6cdf511b365ec389e1b5fb2f358f3ca278d6feb2552b4d98f9fb8","sha256:ce22bc7906ad2664cb11afdf21533fd400eb6a2d9492862427c71de5ddce1b28"],"state_sha256":"2377922d6175076ffdc1fb29c56ae24f9036b933c06d76b0d28a5edc86769230"}