{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:R5FLGXL72BMTC6POZGSRYVXWY3","short_pith_number":"pith:R5FLGXL7","canonical_record":{"source":{"id":"2607.12732","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T13:02:45Z","cross_cats_sorted":[],"title_canon_sha256":"b16a5753a539abe613f658bbfdda56266b8a0a6667102d05b0ae1e94cd4c93da","abstract_canon_sha256":"bb0aeaa658db02a5e9dc29cc10a19d52463475a1e787b7ab67d98728d3c760e6"},"schema_version":"1.0"},"canonical_sha256":"8f4ab35d7fd0593179eec9a51c56f6c6e1ee52c190955a0b9d867ee4d1fa98bc","source":{"kind":"arxiv","id":"2607.12732","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.12732","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"arxiv_version","alias_value":"2607.12732v1","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.12732","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_12","alias_value":"R5FLGXL72BMT","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_16","alias_value":"R5FLGXL72BMTC6PO","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_8","alias_value":"R5FLGXL7","created_at":"2026-07-15T01:22:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:R5FLGXL72BMTC6POZGSRYVXWY3","target":"record","payload":{"canonical_record":{"source":{"id":"2607.12732","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T13:02:45Z","cross_cats_sorted":[],"title_canon_sha256":"b16a5753a539abe613f658bbfdda56266b8a0a6667102d05b0ae1e94cd4c93da","abstract_canon_sha256":"bb0aeaa658db02a5e9dc29cc10a19d52463475a1e787b7ab67d98728d3c760e6"},"schema_version":"1.0"},"canonical_sha256":"8f4ab35d7fd0593179eec9a51c56f6c6e1ee52c190955a0b9d867ee4d1fa98bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-15T01:22:14.847829Z","signature_b64":"LSbfCx4dqEw7rqwGIrHe6jTvr/wCp73g7UzPjWwe85nu+XcvBNb7Yv8fK0RQdZC8248O2DINXRSZVXIj4tbIAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8f4ab35d7fd0593179eec9a51c56f6c6e1ee52c190955a0b9d867ee4d1fa98bc","last_reissued_at":"2026-07-15T01:22:14.847011Z","signature_status":"signed_v1","first_computed_at":"2026-07-15T01:22:14.847011Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.12732","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":"2026-07-15T01:22:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TEtaX25ygowbmz9PFI+ThDkeIzegrb4wbttzP0vls0XQpZqRkh16pW0nTQ0/0hjxvTwptZhAUY2S7ex7g51nAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:37:27.745941Z"},"content_sha256":"3cc58e4fc2c40ae477d11fc7bf62eb1cbda2b80bf2cb4f720c801f93529787e0","schema_version":"1.0","event_id":"sha256:3cc58e4fc2c40ae477d11fc7bf62eb1cbda2b80bf2cb4f720c801f93529787e0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:R5FLGXL72BMTC6POZGSRYVXWY3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Georgia Chalvatzaki, Jiayun Li","submitted_at":"2026-07-14T13:02:45Z","abstract_excerpt":"Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a distribution over motions, allowing the planner to reason over multiple low-cost alternatives. In robotics, however, motion samples must also satisfy strict constraints, including collision avoidance, joint limits, contact conditions, and dynamics consistency. These hard requirements make motion sampling substantially more challenging: within a limited planning budget, the ensemble must cover diverse low-cost motions"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.12732","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/2607.12732/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":"2026-07-15T01:22:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IQpCITqIU06qvHowNtQo/6RSwgux1MhYdM3pyLaIfoLir6+ezsc1Ly+uB2ID+zqcIQao5tjb7erzuKFfJhnnBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:37:27.746425Z"},"content_sha256":"14bd04a23cfd50848fca198d751849b4588c30c61e9f6c78f626107c431fa2a2","schema_version":"1.0","event_id":"sha256:14bd04a23cfd50848fca198d751849b4588c30c61e9f6c78f626107c431fa2a2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R5FLGXL72BMTC6POZGSRYVXWY3/bundle.json","state_url":"https://pith.science/pith/R5FLGXL72BMTC6POZGSRYVXWY3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R5FLGXL72BMTC6POZGSRYVXWY3/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":"2026-08-03T22:37:27Z","links":{"resolver":"https://pith.science/pith/R5FLGXL72BMTC6POZGSRYVXWY3","bundle":"https://pith.science/pith/R5FLGXL72BMTC6POZGSRYVXWY3/bundle.json","state":"https://pith.science/pith/R5FLGXL72BMTC6POZGSRYVXWY3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R5FLGXL72BMTC6POZGSRYVXWY3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:R5FLGXL72BMTC6POZGSRYVXWY3","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":"bb0aeaa658db02a5e9dc29cc10a19d52463475a1e787b7ab67d98728d3c760e6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T13:02:45Z","title_canon_sha256":"b16a5753a539abe613f658bbfdda56266b8a0a6667102d05b0ae1e94cd4c93da"},"schema_version":"1.0","source":{"id":"2607.12732","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.12732","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"arxiv_version","alias_value":"2607.12732v1","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.12732","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_12","alias_value":"R5FLGXL72BMT","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_16","alias_value":"R5FLGXL72BMTC6PO","created_at":"2026-07-15T01:22:14Z"},{"alias_kind":"pith_short_8","alias_value":"R5FLGXL7","created_at":"2026-07-15T01:22:14Z"}],"graph_snapshots":[{"event_id":"sha256:14bd04a23cfd50848fca198d751849b4588c30c61e9f6c78f626107c431fa2a2","target":"graph","created_at":"2026-07-15T01:22:14Z","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/2607.12732/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a distribution over motions, allowing the planner to reason over multiple low-cost alternatives. In robotics, however, motion samples must also satisfy strict constraints, including collision avoidance, joint limits, contact conditions, and dynamics consistency. These hard requirements make motion sampling substantially more challenging: within a limited planning budget, the ensemble must cover diverse low-cost motions","authors_text":"Georgia Chalvatzaki, Jiayun Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T13:02:45Z","title":"Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.12732","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":"sha256:3cc58e4fc2c40ae477d11fc7bf62eb1cbda2b80bf2cb4f720c801f93529787e0","target":"record","created_at":"2026-07-15T01:22:14Z","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":"bb0aeaa658db02a5e9dc29cc10a19d52463475a1e787b7ab67d98728d3c760e6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T13:02:45Z","title_canon_sha256":"b16a5753a539abe613f658bbfdda56266b8a0a6667102d05b0ae1e94cd4c93da"},"schema_version":"1.0","source":{"id":"2607.12732","kind":"arxiv","version":1}},"canonical_sha256":"8f4ab35d7fd0593179eec9a51c56f6c6e1ee52c190955a0b9d867ee4d1fa98bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8f4ab35d7fd0593179eec9a51c56f6c6e1ee52c190955a0b9d867ee4d1fa98bc","first_computed_at":"2026-07-15T01:22:14.847011Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-15T01:22:14.847011Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LSbfCx4dqEw7rqwGIrHe6jTvr/wCp73g7UzPjWwe85nu+XcvBNb7Yv8fK0RQdZC8248O2DINXRSZVXIj4tbIAA==","signature_status":"signed_v1","signed_at":"2026-07-15T01:22:14.847829Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.12732","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cc58e4fc2c40ae477d11fc7bf62eb1cbda2b80bf2cb4f720c801f93529787e0","sha256:14bd04a23cfd50848fca198d751849b4588c30c61e9f6c78f626107c431fa2a2"],"state_sha256":"d9d07d64ee87a521aaa0a94c3469865cc6a039323de2255cce74e816007342cd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XbX10Gqr0EhuguW2LRBBFNxWEfwN6PdhFnnhKe4ufidV58//HR2NAEHW4s/q9BjWdbmRTyViKQE/TZPD4yb1Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T22:37:27.749785Z","bundle_sha256":"f0a03168b72ce2f46b6953bf0bfe133c17bed9a9e61190bc63bee07a64034f9a"}}