{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KCFIFRZN55HMEJ5O2T7ZNZPPPW","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":"d3f6846d548054af445f4baae71ff9c7b2a0f3e629b766b68b52d4159e99c3ba","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T16:59:17Z","title_canon_sha256":"719e76a984f709818a26a0eb65852544cbfee994e64b842b70f18700130ad79d"},"schema_version":"1.0","source":{"id":"2407.13693","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.13693","created_at":"2026-07-05T08:45:42Z"},{"alias_kind":"arxiv_version","alias_value":"2407.13693v1","created_at":"2026-07-05T08:45:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.13693","created_at":"2026-07-05T08:45:42Z"},{"alias_kind":"pith_short_12","alias_value":"KCFIFRZN55HM","created_at":"2026-07-05T08:45:42Z"},{"alias_kind":"pith_short_16","alias_value":"KCFIFRZN55HMEJ5O","created_at":"2026-07-05T08:45:42Z"},{"alias_kind":"pith_short_8","alias_value":"KCFIFRZN","created_at":"2026-07-05T08:45:42Z"}],"graph_snapshots":[{"event_id":"sha256:96f7d6632b0db71a8ca1a50cd0640645b9fb2655af738f7e6011c4effba0d6bf","target":"graph","created_at":"2026-07-05T08:45:42Z","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/2407.13693/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The rapid advancement of robotics necessitates robust tools for developing and testing safe control architectures in dynamic and uncertain environments. Ensuring safety and reliability in robotics, especially in safety-critical applications, is crucial, driving substantial industrial and academic efforts. In this context, we extend CBFkit, a Python/ROS2 toolbox, which now incorporates a planner using reach-avoid specifications as a cost function. This integration with the Model Predictive Path Integral (MPPI) controllers enables the toolbox to satisfy complex tasks while ensuring formal safety","authors_text":"Bardh Hoxha, Danil Prokhorov, Georgios Fainekos, Hardik Parwana, Hideki Okamoto, Mitchell Black","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T16:59:17Z","title":"Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.13693","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":"sha256:17d63aa5ab05bf7194ce381a213cc5b49a2698a8054f4b1611a56ae2dce4d627","target":"record","created_at":"2026-07-05T08:45:42Z","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":"d3f6846d548054af445f4baae71ff9c7b2a0f3e629b766b68b52d4159e99c3ba","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-18T16:59:17Z","title_canon_sha256":"719e76a984f709818a26a0eb65852544cbfee994e64b842b70f18700130ad79d"},"schema_version":"1.0","source":{"id":"2407.13693","kind":"arxiv","version":1}},"canonical_sha256":"508a82c72def4ec227aed4ff96e5ef7da04b3ef7c45e63cbd1754ad5bda0c0c0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"508a82c72def4ec227aed4ff96e5ef7da04b3ef7c45e63cbd1754ad5bda0c0c0","first_computed_at":"2026-07-05T08:45:42.525818Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:45:42.525818Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WuQZYN3/ojtrxD0c+VicCfTnUabZtPcGjCoDwWz3Lv8XcwQb8NIMITc6L7FxPjq10VraabQR2nj3MvNdkJ4kCw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:45:42.526179Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.13693","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:17d63aa5ab05bf7194ce381a213cc5b49a2698a8054f4b1611a56ae2dce4d627","sha256:96f7d6632b0db71a8ca1a50cd0640645b9fb2655af738f7e6011c4effba0d6bf"],"state_sha256":"12508a42f51a37199b7e47980b4eb42447e20a58cbda7ee898ec9b4c21db5e3a"}