{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:QWMQNSCANZGCWALKYPT6EG53OR","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":"31a2089ced456624dc12cf88f0ff50c61441df29b05d1bef9d4bf55173808a4a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-11T15:31:25Z","title_canon_sha256":"c2394e758e1d4adab202906fb6e5267db77eea6966fb09bf0fbd640319c1169a"},"schema_version":"1.0","source":{"id":"2506.09859","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.09859","created_at":"2026-07-05T11:41:43Z"},{"alias_kind":"arxiv_version","alias_value":"2506.09859v2","created_at":"2026-07-05T11:41:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.09859","created_at":"2026-07-05T11:41:43Z"},{"alias_kind":"pith_short_12","alias_value":"QWMQNSCANZGC","created_at":"2026-07-05T11:41:43Z"},{"alias_kind":"pith_short_16","alias_value":"QWMQNSCANZGCWALK","created_at":"2026-07-05T11:41:43Z"},{"alias_kind":"pith_short_8","alias_value":"QWMQNSCA","created_at":"2026-07-05T11:41:43Z"}],"graph_snapshots":[{"event_id":"sha256:1904e66a72f74b129b4f8e035519133dc6d5847b1ea6f8fecd446c2fb8a27cad","target":"graph","created_at":"2026-07-05T11:41:43Z","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/2506.09859/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently estimate the robot's cost-to-go, formulated as local goal recommendations. A spatio-temporal path-searching module, which accounts for kinematic constraints, is then employed to generate a reference trajectory to facilitate solving the non-convex optimization problem used for explicit constraint enforcement. More importantly, we introduce an incremental action-ma","authors_text":"Chao Wang, Huajian Liu, Kunpeng Fan, Wei Dong, Yixuan Feng, Yongzhuo Gao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-11T15:31:25Z","title":"Hierarchical Learning-Enhanced MPC for Safe Crowd Navigation with Heterogeneous Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.09859","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:dc291bfccc4cc2e35cc97a2782de3e7390fcd1b0a30692dcd34f1aec23772890","target":"record","created_at":"2026-07-05T11:41:43Z","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":"31a2089ced456624dc12cf88f0ff50c61441df29b05d1bef9d4bf55173808a4a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-11T15:31:25Z","title_canon_sha256":"c2394e758e1d4adab202906fb6e5267db77eea6966fb09bf0fbd640319c1169a"},"schema_version":"1.0","source":{"id":"2506.09859","kind":"arxiv","version":2}},"canonical_sha256":"859906c8406e4c2b016ac3e7e21bbb7473d4b282d1f4e7e6f0b40152988e1161","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"859906c8406e4c2b016ac3e7e21bbb7473d4b282d1f4e7e6f0b40152988e1161","first_computed_at":"2026-07-05T11:41:43.068085Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:41:43.068085Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yy05TmbH/EryVvmvMSraLZvGBGAd2JrAX6HPnfam4nGNuXbKOvThKSM67HEr4ARKQj9vKNxUJ3uR866GO4WBCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:41:43.068559Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.09859","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dc291bfccc4cc2e35cc97a2782de3e7390fcd1b0a30692dcd34f1aec23772890","sha256:1904e66a72f74b129b4f8e035519133dc6d5847b1ea6f8fecd446c2fb8a27cad"],"state_sha256":"298eacd6947bbeaa373c686b027bc218f60cea1eb65424c7a32402140eb32777"}