{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:RTJVBLFLVEONOY2BA34R6FVENX","short_pith_number":"pith:RTJVBLFL","canonical_record":{"source":{"id":"2102.12667","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-25T03:46:35Z","cross_cats_sorted":[],"title_canon_sha256":"8948d6a52083e09a29f82adb28828548e077ebe22f98339b2a5f75e1d840e69b","abstract_canon_sha256":"58f7e9222b04898e8141bdb66a1a0ac6e484e7bada8e50396d791da99ffdeeed"},"schema_version":"1.0"},"canonical_sha256":"8cd350acaba91cd7634106f91f16a46de182dcdd0638a86d08920cf3d60b6c1a","source":{"kind":"arxiv","id":"2102.12667","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.12667","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"arxiv_version","alias_value":"2102.12667v2","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.12667","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_12","alias_value":"RTJVBLFLVEON","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_16","alias_value":"RTJVBLFLVEONOY2B","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_8","alias_value":"RTJVBLFL","created_at":"2026-07-05T02:56:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:RTJVBLFLVEONOY2BA34R6FVENX","target":"record","payload":{"canonical_record":{"source":{"id":"2102.12667","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-25T03:46:35Z","cross_cats_sorted":[],"title_canon_sha256":"8948d6a52083e09a29f82adb28828548e077ebe22f98339b2a5f75e1d840e69b","abstract_canon_sha256":"58f7e9222b04898e8141bdb66a1a0ac6e484e7bada8e50396d791da99ffdeeed"},"schema_version":"1.0"},"canonical_sha256":"8cd350acaba91cd7634106f91f16a46de182dcdd0638a86d08920cf3d60b6c1a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:56:14.760568Z","signature_b64":"i8a7FW92r9uc32gue6Z+jWa+HyG2+ng5zSAri6EAaRTbxGHQ+pwT7Ql2VRdOHFk70J4YERMN86Wtk6cWsmxHDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8cd350acaba91cd7634106f91f16a46de182dcdd0638a86d08920cf3d60b6c1a","last_reissued_at":"2026-07-05T02:56:14.760051Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:56:14.760051Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2102.12667","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:56:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ng/HWquRjTEY25go2WB4jVzx7bxtHKLLy+TbTtnbQuz0iJcbzJyEb8Wd/JzkoSSrPSBz6M11rgWmkdeYtKMjBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:05:10.846532Z"},"content_sha256":"4d972ba4872d9670c8d1c236294082b43254de98699fa72212240299d6ec7a09","schema_version":"1.0","event_id":"sha256:4d972ba4872d9670c8d1c236294082b43254de98699fa72212240299d6ec7a09"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:RTJVBLFLVEONOY2BA34R6FVENX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Joydeep Biswas, Peter Stone, Xuesu Xiao","submitted_at":"2021-02-25T03:46:35Z","abstract_excerpt":"This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion planners either operate in structured and homogeneous environments and thus do not need to explicitly account for terrain-vehicle interaction, or assume a set of discrete terrain classes. However, when operating on unstructured terrain, especially at high speeds, even small variations in the environment will be magnified and cause inaccurate plan execution."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.12667","kind":"arxiv","version":2},"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/2102.12667/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":"2026-07-05T02:56:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vd57WhvLkyJdCD98+puPLu12z2+Z3PA5NGYUBFJ8zOfXtxmdaYypguSvp15J8MeQPIYC783MYQmAUYBsFDwZBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:05:10.847120Z"},"content_sha256":"b5a7ff52fc372d5fd6fa183caa4077fb65c3fe125892e0f516db98c8de44f311","schema_version":"1.0","event_id":"sha256:b5a7ff52fc372d5fd6fa183caa4077fb65c3fe125892e0f516db98c8de44f311"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RTJVBLFLVEONOY2BA34R6FVENX/bundle.json","state_url":"https://pith.science/pith/RTJVBLFLVEONOY2BA34R6FVENX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RTJVBLFLVEONOY2BA34R6FVENX/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":"2026-08-04T09:05:10Z","links":{"resolver":"https://pith.science/pith/RTJVBLFLVEONOY2BA34R6FVENX","bundle":"https://pith.science/pith/RTJVBLFLVEONOY2BA34R6FVENX/bundle.json","state":"https://pith.science/pith/RTJVBLFLVEONOY2BA34R6FVENX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RTJVBLFLVEONOY2BA34R6FVENX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:RTJVBLFLVEONOY2BA34R6FVENX","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":"58f7e9222b04898e8141bdb66a1a0ac6e484e7bada8e50396d791da99ffdeeed","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-25T03:46:35Z","title_canon_sha256":"8948d6a52083e09a29f82adb28828548e077ebe22f98339b2a5f75e1d840e69b"},"schema_version":"1.0","source":{"id":"2102.12667","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.12667","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"arxiv_version","alias_value":"2102.12667v2","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.12667","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_12","alias_value":"RTJVBLFLVEON","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_16","alias_value":"RTJVBLFLVEONOY2B","created_at":"2026-07-05T02:56:14Z"},{"alias_kind":"pith_short_8","alias_value":"RTJVBLFL","created_at":"2026-07-05T02:56:14Z"}],"graph_snapshots":[{"event_id":"sha256:b5a7ff52fc372d5fd6fa183caa4077fb65c3fe125892e0f516db98c8de44f311","target":"graph","created_at":"2026-07-05T02:56:14Z","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/2102.12667/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion planners either operate in structured and homogeneous environments and thus do not need to explicitly account for terrain-vehicle interaction, or assume a set of discrete terrain classes. However, when operating on unstructured terrain, especially at high speeds, even small variations in the environment will be magnified and cause inaccurate plan execution.","authors_text":"Joydeep Biswas, Peter Stone, Xuesu Xiao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-25T03:46:35Z","title":"Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.12667","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":"sha256:4d972ba4872d9670c8d1c236294082b43254de98699fa72212240299d6ec7a09","target":"record","created_at":"2026-07-05T02:56:14Z","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":"58f7e9222b04898e8141bdb66a1a0ac6e484e7bada8e50396d791da99ffdeeed","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-25T03:46:35Z","title_canon_sha256":"8948d6a52083e09a29f82adb28828548e077ebe22f98339b2a5f75e1d840e69b"},"schema_version":"1.0","source":{"id":"2102.12667","kind":"arxiv","version":2}},"canonical_sha256":"8cd350acaba91cd7634106f91f16a46de182dcdd0638a86d08920cf3d60b6c1a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8cd350acaba91cd7634106f91f16a46de182dcdd0638a86d08920cf3d60b6c1a","first_computed_at":"2026-07-05T02:56:14.760051Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:56:14.760051Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i8a7FW92r9uc32gue6Z+jWa+HyG2+ng5zSAri6EAaRTbxGHQ+pwT7Ql2VRdOHFk70J4YERMN86Wtk6cWsmxHDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:56:14.760568Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.12667","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4d972ba4872d9670c8d1c236294082b43254de98699fa72212240299d6ec7a09","sha256:b5a7ff52fc372d5fd6fa183caa4077fb65c3fe125892e0f516db98c8de44f311"],"state_sha256":"3b0bff6f7c7a398681f9f644e7b052be9d5b85848adec1cefac401fb4770aa79"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R4mkQ+BoJe2TqBymQYEhX4LlXPeaGGcCfmmHd+fCSKSh7MsN8asGy8FqIeDPltxA7NrUPYnbhiqUpxBlEhutDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T09:05:10.859942Z","bundle_sha256":"c0d3d18129c1b92509a613f4ae6864d87c512561a41ee741737cf3bf291c3e45"}}