{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:LPE5NX6NLY5S2AFPEWZNSEZ53J","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":"74b2a67c6789156432091c4f63e73a19659dc8240864feff0217336df3178119","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T12:15:04Z","title_canon_sha256":"a312051d75683a1e573320be4859f35074ba7f8586f0b20b26dbd2d732ee9573"},"schema_version":"1.0","source":{"id":"2509.07646","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.07646","created_at":"2026-07-05T12:07:25Z"},{"alias_kind":"arxiv_version","alias_value":"2509.07646v1","created_at":"2026-07-05T12:07:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.07646","created_at":"2026-07-05T12:07:25Z"},{"alias_kind":"pith_short_12","alias_value":"LPE5NX6NLY5S","created_at":"2026-07-05T12:07:25Z"},{"alias_kind":"pith_short_16","alias_value":"LPE5NX6NLY5S2AFP","created_at":"2026-07-05T12:07:25Z"},{"alias_kind":"pith_short_8","alias_value":"LPE5NX6N","created_at":"2026-07-05T12:07:25Z"}],"graph_snapshots":[{"event_id":"sha256:4b8fe1389ff3a032cd7d4b0f0c04e38d6273b13deeec9184e2c37985f87b67fa","target":"graph","created_at":"2026-07-05T12:07:25Z","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/2509.07646/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In robots task and motion planning (TAMP), it is crucial to sample within the robot's configuration space to meet task-level global constraints and enhance the efficiency of subsequent motion planning. Due to the complexity of joint configuration sampling under multi-level constraints, traditional methods often lack efficiency. This paper introduces the principle of RobKiNet, a kinematics-informed neural network, for end-to-end sampling within the Continuous Feasible Set (CFS) under multiple constraints in configuration space, establishing its Optimization Expectation Model. Comparisons with t","authors_text":"Chuangchuang Zhou, Ming Chen, Pengxu Chang, Yanlong Peng, Yu Yan, Zhigang Wang, Ziwen He","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T12:15:04Z","title":"Decoding RobKiNet: Insights into Efficient Training of Robotic Kinematics Informed Neural Network"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.07646","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":"sha256:99ea7f0cd0499d481f248443090793adacac9a18f13d1910fd7e6b101ecad45e","target":"record","created_at":"2026-07-05T12:07:25Z","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":"74b2a67c6789156432091c4f63e73a19659dc8240864feff0217336df3178119","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T12:15:04Z","title_canon_sha256":"a312051d75683a1e573320be4859f35074ba7f8586f0b20b26dbd2d732ee9573"},"schema_version":"1.0","source":{"id":"2509.07646","kind":"arxiv","version":1}},"canonical_sha256":"5bc9d6dfcd5e3b2d00af25b2d9133dda76cc6c5e879af37f9648b5663c520dbd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5bc9d6dfcd5e3b2d00af25b2d9133dda76cc6c5e879af37f9648b5663c520dbd","first_computed_at":"2026-07-05T12:07:25.314922Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:07:25.314922Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZDBMyB9nUtp6yDOvl03VMzSK+gaTW4BvKu7GKizpH0o/KeJURLILL4Rc0E+fwf1MFCggBOi3l28LXacn3ImCCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T12:07:25.315470Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.07646","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:99ea7f0cd0499d481f248443090793adacac9a18f13d1910fd7e6b101ecad45e","sha256:4b8fe1389ff3a032cd7d4b0f0c04e38d6273b13deeec9184e2c37985f87b67fa"],"state_sha256":"7902baecefa93766ff80a26c8a269af69e25ebfa5c5b7291dabf4decd4c40f8e"}