{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KB3RI5VKL7IBY5UGOQIZDAXT7E","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":"d6e988724c4071a889ac6ce53f4ac7343e7d3fb0be804177c352d4c99eb4cadf","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-22T15:29:12Z","title_canon_sha256":"3993b125a6b72b1a0220702778d7ba492783519616b41c423f3b759d2d28a63e"},"schema_version":"1.0","source":{"id":"2408.12490","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.12490","created_at":"2026-07-05T08:58:10Z"},{"alias_kind":"arxiv_version","alias_value":"2408.12490v1","created_at":"2026-07-05T08:58:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.12490","created_at":"2026-07-05T08:58:10Z"},{"alias_kind":"pith_short_12","alias_value":"KB3RI5VKL7IB","created_at":"2026-07-05T08:58:10Z"},{"alias_kind":"pith_short_16","alias_value":"KB3RI5VKL7IBY5UG","created_at":"2026-07-05T08:58:10Z"},{"alias_kind":"pith_short_8","alias_value":"KB3RI5VK","created_at":"2026-07-05T08:58:10Z"}],"graph_snapshots":[{"event_id":"sha256:5bead7ae2cc6121f0f811e4a99e92e460eea09bead45e8cb11a6d76b7038cf87","target":"graph","created_at":"2026-07-05T08:58:10Z","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/2408.12490/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of constrained optimization problems rather than a sequence of nonlinear systems of equations. The insight behind our proposed algorithm is formulating the discovery of this sequence of optimization problems as a search problem in a multidimensional homotopy parameter space. Our proposed algorithm, the Probabilistic Homotopy Optimization algorithm, switches betwe","authors_text":"Matthew Chignoli, Sangbae Kim, Shayan Pardis","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-22T15:29:12Z","title":"Probabilistic Homotopy Optimization for Dynamic Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.12490","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":"sha256:54c3e82f31544268944e6fbd59cffdc7e9c44830b73e216c7af741544be7ef0a","target":"record","created_at":"2026-07-05T08:58:10Z","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":"d6e988724c4071a889ac6ce53f4ac7343e7d3fb0be804177c352d4c99eb4cadf","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-22T15:29:12Z","title_canon_sha256":"3993b125a6b72b1a0220702778d7ba492783519616b41c423f3b759d2d28a63e"},"schema_version":"1.0","source":{"id":"2408.12490","kind":"arxiv","version":1}},"canonical_sha256":"50771476aa5fd01c768674119182f3f90450dedc227a2e10fc78a0bdebe858f5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"50771476aa5fd01c768674119182f3f90450dedc227a2e10fc78a0bdebe858f5","first_computed_at":"2026-07-05T08:58:10.808626Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:58:10.808626Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2FzOgRrEvPsKNraGnIjbKoFch0ioYstOHDdOv+KyAOfAyYpzS9ilJ7oZEqFOMbmlTqpnkDCTba06o7eZ1xcQAw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:58:10.809116Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.12490","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:54c3e82f31544268944e6fbd59cffdc7e9c44830b73e216c7af741544be7ef0a","sha256:5bead7ae2cc6121f0f811e4a99e92e460eea09bead45e8cb11a6d76b7038cf87"],"state_sha256":"c912768fe2d21c18d32d58388d7520ae6ffd58a22beba59fa8a04864d0f667a5"}