{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:NBXZATSVEQZW7ZHVDPRZJWUUL4","short_pith_number":"pith:NBXZATSV","canonical_record":{"source":{"id":"2403.05081","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T06:17:59Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3f082de63870ffc45ea0803b7a5c7eb6ede15c5a32a10d27bef80311bd15f1d3","abstract_canon_sha256":"6764cffb5eb2631988cfe63089d3e455576a171c671193e1e27675803ccadeb4"},"schema_version":"1.0"},"canonical_sha256":"686f904e5524336fe4f51be394da945f354e0d4514ec012ceda2c392b4c95082","source":{"kind":"arxiv","id":"2403.05081","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05081","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05081v1","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05081","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_12","alias_value":"NBXZATSVEQZW","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_16","alias_value":"NBXZATSVEQZW7ZHV","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_8","alias_value":"NBXZATSV","created_at":"2026-07-05T07:53:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:NBXZATSVEQZW7ZHVDPRZJWUUL4","target":"record","payload":{"canonical_record":{"source":{"id":"2403.05081","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T06:17:59Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3f082de63870ffc45ea0803b7a5c7eb6ede15c5a32a10d27bef80311bd15f1d3","abstract_canon_sha256":"6764cffb5eb2631988cfe63089d3e455576a171c671193e1e27675803ccadeb4"},"schema_version":"1.0"},"canonical_sha256":"686f904e5524336fe4f51be394da945f354e0d4514ec012ceda2c392b4c95082","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:38.159049Z","signature_b64":"4WHiZ0ssnUECo9F+utGEoj6OaZN0dTp5CGfhZeFOJfq1g4SLOiESqjBNA8iiRblUZDhkLBl0HsIaXyG0S6HmBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"686f904e5524336fe4f51be394da945f354e0d4514ec012ceda2c392b4c95082","last_reissued_at":"2026-07-05T07:53:38.158527Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:38.158527Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.05081","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":"2026-07-05T07:53:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nIzko7YKAt9d4sPJlHwUqcAokqW6Lb05li9+ty5mPHiDCHKtabL+dIZHw5Xc+hVWs9uZX+/3ZP1yAhfAHdJyAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T12:28:49.050154Z"},"content_sha256":"8bccd6754222ecca1f645ba4bac4cef5fd19c6ac5c50728fe66339fc08c08659","schema_version":"1.0","event_id":"sha256:8bccd6754222ecca1f645ba4bac4cef5fd19c6ac5c50728fe66339fc08c08659"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:NBXZATSVEQZW7ZHVDPRZJWUUL4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Kanghyun Ryu, Negar Mehr","submitted_at":"2024-03-08T06:17:59Z","abstract_excerpt":"Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how one can safely incorporate these learned models into a control loop due to the uncertain nature of human motion, which can make predictions of these models imprecise. In this work, we address this challenge and introduce a distributionally robust chance-constrained model predictive control (DRCC-MPC) which: (i) adopts a probability of collision as a pre-specif"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05081","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/2403.05081/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":"2026-07-05T07:53:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pyWKZKqodaK3xDjqCQ+OYRSxf3KcwRYQim0rMEJtgdD0LMLkc2UdMXO1G2psNPetFLpXxIzCRThfPPHZTGRSCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T12:28:49.051157Z"},"content_sha256":"ef90bb58423bba7f5687601420981aaeb296d7b729c659b6799a17e6dd8667dd","schema_version":"1.0","event_id":"sha256:ef90bb58423bba7f5687601420981aaeb296d7b729c659b6799a17e6dd8667dd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/bundle.json","state_url":"https://pith.science/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/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":"2026-08-19T12:28:49Z","links":{"resolver":"https://pith.science/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4","bundle":"https://pith.science/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/bundle.json","state":"https://pith.science/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NBXZATSVEQZW7ZHVDPRZJWUUL4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:NBXZATSVEQZW7ZHVDPRZJWUUL4","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":"6764cffb5eb2631988cfe63089d3e455576a171c671193e1e27675803ccadeb4","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T06:17:59Z","title_canon_sha256":"3f082de63870ffc45ea0803b7a5c7eb6ede15c5a32a10d27bef80311bd15f1d3"},"schema_version":"1.0","source":{"id":"2403.05081","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05081","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05081v1","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05081","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_12","alias_value":"NBXZATSVEQZW","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_16","alias_value":"NBXZATSVEQZW7ZHV","created_at":"2026-07-05T07:53:38Z"},{"alias_kind":"pith_short_8","alias_value":"NBXZATSV","created_at":"2026-07-05T07:53:38Z"}],"graph_snapshots":[{"event_id":"sha256:ef90bb58423bba7f5687601420981aaeb296d7b729c659b6799a17e6dd8667dd","target":"graph","created_at":"2026-07-05T07:53:38Z","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/2403.05081/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how one can safely incorporate these learned models into a control loop due to the uncertain nature of human motion, which can make predictions of these models imprecise. In this work, we address this challenge and introduce a distributionally robust chance-constrained model predictive control (DRCC-MPC) which: (i) adopts a probability of collision as a pre-specif","authors_text":"Kanghyun Ryu, Negar Mehr","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T06:17:59Z","title":"Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05081","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":"sha256:8bccd6754222ecca1f645ba4bac4cef5fd19c6ac5c50728fe66339fc08c08659","target":"record","created_at":"2026-07-05T07:53:38Z","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":"6764cffb5eb2631988cfe63089d3e455576a171c671193e1e27675803ccadeb4","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T06:17:59Z","title_canon_sha256":"3f082de63870ffc45ea0803b7a5c7eb6ede15c5a32a10d27bef80311bd15f1d3"},"schema_version":"1.0","source":{"id":"2403.05081","kind":"arxiv","version":1}},"canonical_sha256":"686f904e5524336fe4f51be394da945f354e0d4514ec012ceda2c392b4c95082","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"686f904e5524336fe4f51be394da945f354e0d4514ec012ceda2c392b4c95082","first_computed_at":"2026-07-05T07:53:38.158527Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:38.158527Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4WHiZ0ssnUECo9F+utGEoj6OaZN0dTp5CGfhZeFOJfq1g4SLOiESqjBNA8iiRblUZDhkLBl0HsIaXyG0S6HmBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:38.159049Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.05081","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8bccd6754222ecca1f645ba4bac4cef5fd19c6ac5c50728fe66339fc08c08659","sha256:ef90bb58423bba7f5687601420981aaeb296d7b729c659b6799a17e6dd8667dd"],"state_sha256":"d7dce781acf0a37967501b1fbd81fed71dabeb91b9a8e3d5ff7c417d3a121db4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T/lN1hwoo2yyrP9M12IKAm3g1aQj4FUOPilnAhRuNJjYNmntYtLn7RhP9+Cg2thjePJFbH/OoDK3q1SWogRKCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T12:28:49.056788Z","bundle_sha256":"54f4bec56ccf4ed09b2bca6aade6ca8e9c8945246fcf333da50c6e9cdfb8ebf0"}}