{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:RRAT2ZA3JK46NF4XOFXZEGUPR3","short_pith_number":"pith:RRAT2ZA3","canonical_record":{"source":{"id":"2607.10437","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","cross_cats_sorted":[],"title_canon_sha256":"2d3d42fd8f035e208643d2e4e7b7fd9c59c04f096608a88f1b67a2805c7b4531","abstract_canon_sha256":"b9b4eca67f02f15d97839a69550d83339a2571ff6baf806fdab9a45ee63f39df"},"schema_version":"1.0"},"canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","source":{"kind":"arxiv","id":"2607.10437","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.10437","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"arxiv_version","alias_value":"2607.10437v1","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10437","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_12","alias_value":"RRAT2ZA3JK46","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_16","alias_value":"RRAT2ZA3JK46NF4X","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_8","alias_value":"RRAT2ZA3","created_at":"2026-07-14T01:21:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:RRAT2ZA3JK46NF4XOFXZEGUPR3","target":"record","payload":{"canonical_record":{"source":{"id":"2607.10437","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","cross_cats_sorted":[],"title_canon_sha256":"2d3d42fd8f035e208643d2e4e7b7fd9c59c04f096608a88f1b67a2805c7b4531","abstract_canon_sha256":"b9b4eca67f02f15d97839a69550d83339a2571ff6baf806fdab9a45ee63f39df"},"schema_version":"1.0"},"canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-14T01:21:15.922196Z","signature_b64":"QNbtoZ48gzLGEL3lbyCwRPcivRdg2ATVwtfcXhq18QrLJT0BqHnjbN18RMXEf0D4iFuy640g9fKLpbHntIVCAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","last_reissued_at":"2026-07-14T01:21:15.921393Z","signature_status":"signed_v1","first_computed_at":"2026-07-14T01:21:15.921393Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.10437","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":"2026-07-14T01:21:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8mjW8E30GcctvhAJ7NSERkOhA6Bmfm3/Yi97pd8d6ayOBXd7HWpUIEsKmzjRmHYzdoB99VOPSTJmeVDF4JxBAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T17:03:51.482533Z"},"content_sha256":"0e21a6e24295d04d98b304c1ab48a8a384225003078dad7357c6a3f7037410ee","schema_version":"1.0","event_id":"sha256:0e21a6e24295d04d98b304c1ab48a8a384225003078dad7357c6a3f7037410ee"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:RRAT2ZA3JK46NF4XOFXZEGUPR3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fumin Zhang, Huibo Zhang, Mengxue Hou, Ruochu Yang, Yatong Han, Yiming Zhao, Yingke Li, Yorai Wardi, Ziyi Xia","submitted_at":"2026-07-11T18:43:02Z","abstract_excerpt":"Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved POMDP planning algorithm that decomposes this challenge into two interacting levels: a high-level POUCT planner reasons over object distributions using LLM-informed histogram beliefs, while a low-level motion planner models navigation uncertainty with obstacle-aware particle belief"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10437","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/2607.10437/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":"2026-07-14T01:21:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wOEs9/Gz3Ryb7UDCf43TEjTY/cFBfuVlnIX+Qemjk6OMeNiwUT7k9I2j0y1tzUlhVkeKowFdhRYm1AxoYQcoAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T17:03:51.483165Z"},"content_sha256":"09dd03deaadcf9dff5775c3e8765d4c1967025cd32aa9a204616014fd1bb10db","schema_version":"1.0","event_id":"sha256:09dd03deaadcf9dff5775c3e8765d4c1967025cd32aa9a204616014fd1bb10db"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/bundle.json","state_url":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/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":"2026-08-13T17:03:51Z","links":{"resolver":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3","bundle":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/bundle.json","state":"https://pith.science/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RRAT2ZA3JK46NF4XOFXZEGUPR3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:RRAT2ZA3JK46NF4XOFXZEGUPR3","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":"b9b4eca67f02f15d97839a69550d83339a2571ff6baf806fdab9a45ee63f39df","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","title_canon_sha256":"2d3d42fd8f035e208643d2e4e7b7fd9c59c04f096608a88f1b67a2805c7b4531"},"schema_version":"1.0","source":{"id":"2607.10437","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.10437","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"arxiv_version","alias_value":"2607.10437v1","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10437","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_12","alias_value":"RRAT2ZA3JK46","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_16","alias_value":"RRAT2ZA3JK46NF4X","created_at":"2026-07-14T01:21:15Z"},{"alias_kind":"pith_short_8","alias_value":"RRAT2ZA3","created_at":"2026-07-14T01:21:15Z"}],"graph_snapshots":[{"event_id":"sha256:09dd03deaadcf9dff5775c3e8765d4c1967025cd32aa9a204616014fd1bb10db","target":"graph","created_at":"2026-07-14T01:21:15Z","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/2607.10437/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved POMDP planning algorithm that decomposes this challenge into two interacting levels: a high-level POUCT planner reasons over object distributions using LLM-informed histogram beliefs, while a low-level motion planner models navigation uncertainty with obstacle-aware particle belief","authors_text":"Fumin Zhang, Huibo Zhang, Mengxue Hou, Ruochu Yang, Yatong Han, Yiming Zhao, Yingke Li, Yorai Wardi, Ziyi Xia","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","title":"Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10437","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":"sha256:0e21a6e24295d04d98b304c1ab48a8a384225003078dad7357c6a3f7037410ee","target":"record","created_at":"2026-07-14T01:21:15Z","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":"b9b4eca67f02f15d97839a69550d83339a2571ff6baf806fdab9a45ee63f39df","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T18:43:02Z","title_canon_sha256":"2d3d42fd8f035e208643d2e4e7b7fd9c59c04f096608a88f1b67a2805c7b4531"},"schema_version":"1.0","source":{"id":"2607.10437","kind":"arxiv","version":1}},"canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8c413d641b4ab9e69797716f921a8f8ed77ee78bbd9a03682fb26ba29efe94b8","first_computed_at":"2026-07-14T01:21:15.921393Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-14T01:21:15.921393Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QNbtoZ48gzLGEL3lbyCwRPcivRdg2ATVwtfcXhq18QrLJT0BqHnjbN18RMXEf0D4iFuy640g9fKLpbHntIVCAA==","signature_status":"signed_v1","signed_at":"2026-07-14T01:21:15.922196Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.10437","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0e21a6e24295d04d98b304c1ab48a8a384225003078dad7357c6a3f7037410ee","sha256:09dd03deaadcf9dff5775c3e8765d4c1967025cd32aa9a204616014fd1bb10db"],"state_sha256":"1d9cc7a36dc0d956f6ccb0524bb1ae7e7c8ba7939fbf7ff150ee91bd3e5dd40f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uAAmPsV/RpQI/uYGbLq4YQJHquPWNGvJdk7+SrjZQF/Z1UCNGPKXFfG2hpkqMq09Olit8+QR+KNGcjSrVpYeBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T17:03:51.487339Z","bundle_sha256":"68a04a2bec9cd51dc511af460cb844c42aeeea3b599c6492c425cab4578f5a25"}}