{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:OFWTIAGRDFEZW3LELETWRPH3OY","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":"2324208e6e53f084da16bd84a0378c1d55ac9b238b2e19566c946d2fb79d02d4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-17T17:36:22Z","title_canon_sha256":"6f9b1a35a4bf41742046ab722bada791e819c148293e8a1027ddedab1489db16"},"schema_version":"1.0","source":{"id":"2305.10395","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.10395","created_at":"2026-07-05T06:11:22Z"},{"alias_kind":"arxiv_version","alias_value":"2305.10395v2","created_at":"2026-07-05T06:11:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.10395","created_at":"2026-07-05T06:11:22Z"},{"alias_kind":"pith_short_12","alias_value":"OFWTIAGRDFEZ","created_at":"2026-07-05T06:11:22Z"},{"alias_kind":"pith_short_16","alias_value":"OFWTIAGRDFEZW3LE","created_at":"2026-07-05T06:11:22Z"},{"alias_kind":"pith_short_8","alias_value":"OFWTIAGR","created_at":"2026-07-05T06:11:22Z"}],"graph_snapshots":[{"event_id":"sha256:d2be8c7df04a86481a084b749386f184ffa435b36eb2b265e7cc041f959ba10f","target":"graph","created_at":"2026-07-05T06:11:22Z","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/2305.10395/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we generally build a graph structure called a roadmap, a discrete approximation of a complex continuous C-space, to reason about connectivity. Checking collision-free connectivity in the roadmap requires expensive edge-evaluation computations, and thus, reducing the number of evaluations has become a significant research objective. However, in practice, we often fac","authors_text":"Peter Stone, Yoonchang Sung","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-17T17:36:22Z","title":"Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.10395","kind":"arxiv","version":2},"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":"sha256:4e0c05e84d0fac32b789becdd7741e5e6c3937b594f79392d86c21da87cc53a0","target":"record","created_at":"2026-07-05T06:11:22Z","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":"2324208e6e53f084da16bd84a0378c1d55ac9b238b2e19566c946d2fb79d02d4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-17T17:36:22Z","title_canon_sha256":"6f9b1a35a4bf41742046ab722bada791e819c148293e8a1027ddedab1489db16"},"schema_version":"1.0","source":{"id":"2305.10395","kind":"arxiv","version":2}},"canonical_sha256":"716d3400d119499b6d64592768bcfb762c927732e3ecb5be133a6263c8483a35","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"716d3400d119499b6d64592768bcfb762c927732e3ecb5be133a6263c8483a35","first_computed_at":"2026-07-05T06:11:22.329135Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:11:22.329135Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yuaNGLsg8Otq5bb/ihV9uIh3gUKcvibcH6j4ft/hmRgEBt220zRotzwwoBJQ3/FZIsZdUF55JtSchCgYGHgjCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:11:22.329553Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.10395","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4e0c05e84d0fac32b789becdd7741e5e6c3937b594f79392d86c21da87cc53a0","sha256:d2be8c7df04a86481a084b749386f184ffa435b36eb2b265e7cc041f959ba10f"],"state_sha256":"15e81606380087d50fe509a3222a1de712d57db93b3fefb8bf5261d9404eaafe"}