{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:PKKITEVSW6CLHBYLK3KIBJXJ2N","short_pith_number":"pith:PKKITEVS","canonical_record":{"source":{"id":"2405.03411","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-06T12:22:11Z","cross_cats_sorted":[],"title_canon_sha256":"f8b67e147f2a0648f99f550b20bd0d6952c24a1688d53c58c549e2068af66433","abstract_canon_sha256":"d87905d0852947041ebf49620530d5aec4cd6c8fa264d86af77ebe1f087e12fe"},"schema_version":"1.0"},"canonical_sha256":"7a948992b2b784b3870b56d480a6e9d37a5def7c32e09a80c45c803fbb4ec3fc","source":{"kind":"arxiv","id":"2405.03411","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.03411","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"arxiv_version","alias_value":"2405.03411v4","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.03411","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_12","alias_value":"PKKITEVSW6CL","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_16","alias_value":"PKKITEVSW6CLHBYL","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_8","alias_value":"PKKITEVS","created_at":"2026-07-13T00:16:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:PKKITEVSW6CLHBYLK3KIBJXJ2N","target":"record","payload":{"canonical_record":{"source":{"id":"2405.03411","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-06T12:22:11Z","cross_cats_sorted":[],"title_canon_sha256":"f8b67e147f2a0648f99f550b20bd0d6952c24a1688d53c58c549e2068af66433","abstract_canon_sha256":"d87905d0852947041ebf49620530d5aec4cd6c8fa264d86af77ebe1f087e12fe"},"schema_version":"1.0"},"canonical_sha256":"7a948992b2b784b3870b56d480a6e9d37a5def7c32e09a80c45c803fbb4ec3fc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-13T00:16:57.985808Z","signature_b64":"INQtS5x4RBZj6E7BfPfwPd/yJ7fAlnwUMfX15sc1qIBvP01B2MxXP2GbSBkit5V4cbtVY6iiTygYTshWnfBmBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7a948992b2b784b3870b56d480a6e9d37a5def7c32e09a80c45c803fbb4ec3fc","last_reissued_at":"2026-07-13T00:16:57.984225Z","signature_status":"signed_v1","first_computed_at":"2026-07-13T00:16:57.984225Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.03411","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-13T00:16:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O+buux2d0HFF+MNaJQORrXrrKVKyxsPgxLEtAlVXDE8UhUjWg+uB63ZTNrzDtcoAXbqmx43eSn85LEQ7SQhjBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T03:59:08.184520Z"},"content_sha256":"2b11951c161c316eb9f321bc9fe62fdf0e3193465621f12d2a19c4dc2e8f431a","schema_version":"1.0","event_id":"sha256:2b11951c161c316eb9f321bc9fe62fdf0e3193465621f12d2a19c4dc2e8f431a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:PKKITEVSW6CLHBYLK3KIBJXJ2N","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anh Vu Le, Jonathan Kelly, Phone Thiha Kyaw, Rajesh Elara Mohan","submitted_at":"2024-05-06T12:22:11Z","abstract_excerpt":"Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contains redundant or tortuous segments, the resulting informed subset may remain unnecessarily large, slowing convergence. Our prior work addressed this issue by introducing the greedy informed set, which reduces the sampling region based on the maximum heuristic cost along the current solution path. In this article, we formally characterize the behavior of the gre"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.03411","kind":"arxiv","version":4},"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/2405.03411/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":"2026-07-13T00:16:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mNUgsVhWhojqqA3lvRpuCUCswIS5hQ+VifviNOA1aJkLReBKgrEcl8l4eL5qTJMNqWapyIvPkoncHA/K5UKYDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T03:59:08.184857Z"},"content_sha256":"8ebe1b46887354c7246d21530039933442470d3f78a29f23a2fbfd31930269ba","schema_version":"1.0","event_id":"sha256:8ebe1b46887354c7246d21530039933442470d3f78a29f23a2fbfd31930269ba"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/bundle.json","state_url":"https://pith.science/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/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":"2026-08-06T03:59:08Z","links":{"resolver":"https://pith.science/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N","bundle":"https://pith.science/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/bundle.json","state":"https://pith.science/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PKKITEVSW6CLHBYLK3KIBJXJ2N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:PKKITEVSW6CLHBYLK3KIBJXJ2N","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":"d87905d0852947041ebf49620530d5aec4cd6c8fa264d86af77ebe1f087e12fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-06T12:22:11Z","title_canon_sha256":"f8b67e147f2a0648f99f550b20bd0d6952c24a1688d53c58c549e2068af66433"},"schema_version":"1.0","source":{"id":"2405.03411","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.03411","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"arxiv_version","alias_value":"2405.03411v4","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.03411","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_12","alias_value":"PKKITEVSW6CL","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_16","alias_value":"PKKITEVSW6CLHBYL","created_at":"2026-07-13T00:16:57Z"},{"alias_kind":"pith_short_8","alias_value":"PKKITEVS","created_at":"2026-07-13T00:16:57Z"}],"graph_snapshots":[{"event_id":"sha256:8ebe1b46887354c7246d21530039933442470d3f78a29f23a2fbfd31930269ba","target":"graph","created_at":"2026-07-13T00:16:57Z","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/2405.03411/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contains redundant or tortuous segments, the resulting informed subset may remain unnecessarily large, slowing convergence. Our prior work addressed this issue by introducing the greedy informed set, which reduces the sampling region based on the maximum heuristic cost along the current solution path. In this article, we formally characterize the behavior of the gre","authors_text":"Anh Vu Le, Jonathan Kelly, Phone Thiha Kyaw, Rajesh Elara Mohan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-06T12:22:11Z","title":"Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.03411","kind":"arxiv","version":4},"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":"sha256:2b11951c161c316eb9f321bc9fe62fdf0e3193465621f12d2a19c4dc2e8f431a","target":"record","created_at":"2026-07-13T00:16:57Z","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":"d87905d0852947041ebf49620530d5aec4cd6c8fa264d86af77ebe1f087e12fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-06T12:22:11Z","title_canon_sha256":"f8b67e147f2a0648f99f550b20bd0d6952c24a1688d53c58c549e2068af66433"},"schema_version":"1.0","source":{"id":"2405.03411","kind":"arxiv","version":4}},"canonical_sha256":"7a948992b2b784b3870b56d480a6e9d37a5def7c32e09a80c45c803fbb4ec3fc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7a948992b2b784b3870b56d480a6e9d37a5def7c32e09a80c45c803fbb4ec3fc","first_computed_at":"2026-07-13T00:16:57.984225Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-13T00:16:57.984225Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"INQtS5x4RBZj6E7BfPfwPd/yJ7fAlnwUMfX15sc1qIBvP01B2MxXP2GbSBkit5V4cbtVY6iiTygYTshWnfBmBw==","signature_status":"signed_v1","signed_at":"2026-07-13T00:16:57.985808Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.03411","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2b11951c161c316eb9f321bc9fe62fdf0e3193465621f12d2a19c4dc2e8f431a","sha256:8ebe1b46887354c7246d21530039933442470d3f78a29f23a2fbfd31930269ba"],"state_sha256":"baf8e336242b5f40b998ff55a3d779c14307ed50819129494a7471eabad1bcc2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n9wVfAxsEcxNxRP1fwsq6kkw+AYSrqylEW9gyH09vWRkIuBc6kaO1KvNMULq0RlHPubhQqOlXSNuY9+pmUasBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T03:59:08.188615Z","bundle_sha256":"a7894d74b7b6eb247d2126fb6c4c7aaaa13f04f778f333c5419785ada169d239"}}