{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SJUCG2MAYEALZ65N5DSRW6HOUI","short_pith_number":"pith:SJUCG2MA","canonical_record":{"source":{"id":"2508.13407","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T23:58:22Z","cross_cats_sorted":[],"title_canon_sha256":"2324d5bd33b65e81392deb6800f7acf5b3f56aa3ef1c349c4944b50a5bb048ff","abstract_canon_sha256":"a93ff8d044b52af8dc6c4735d498c5c41956753722bbe8e5705444868643d2ac"},"schema_version":"1.0"},"canonical_sha256":"9268236980c100bcfbade8e51b78eea21ab1fe90006b1f0662b64e24250d1d58","source":{"kind":"arxiv","id":"2508.13407","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.13407","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"arxiv_version","alias_value":"2508.13407v2","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.13407","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_12","alias_value":"SJUCG2MAYEAL","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_16","alias_value":"SJUCG2MAYEALZ65N","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_8","alias_value":"SJUCG2MA","created_at":"2026-07-05T11:56:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SJUCG2MAYEALZ65N5DSRW6HOUI","target":"record","payload":{"canonical_record":{"source":{"id":"2508.13407","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T23:58:22Z","cross_cats_sorted":[],"title_canon_sha256":"2324d5bd33b65e81392deb6800f7acf5b3f56aa3ef1c349c4944b50a5bb048ff","abstract_canon_sha256":"a93ff8d044b52af8dc6c4735d498c5c41956753722bbe8e5705444868643d2ac"},"schema_version":"1.0"},"canonical_sha256":"9268236980c100bcfbade8e51b78eea21ab1fe90006b1f0662b64e24250d1d58","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:56:23.469544Z","signature_b64":"jaV5cGwN9/PjzGDExVSHgZk6eK8xzi/DCWHJJaYnkELw8o5JRHb3hRLF7hhbX2lMuEYR7OHejfuzL7oAjZS3Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9268236980c100bcfbade8e51b78eea21ab1fe90006b1f0662b64e24250d1d58","last_reissued_at":"2026-07-05T11:56:23.469055Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:56:23.469055Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.13407","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":"2026-07-05T11:56:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Em4N1GD9xD+vk2+blAV10YlG6Qjsrdl73+o5+OeqMmAu920RApsgzCNPe64gvRsVBPrxAo9wJgGp33pJNJGzCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T19:10:54.508562Z"},"content_sha256":"04268a6bff40681bfbd3f029ecb2942b277fb159092b55dc669a65b77997ad9d","schema_version":"1.0","event_id":"sha256:04268a6bff40681bfbd3f029ecb2942b277fb159092b55dc669a65b77997ad9d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SJUCG2MAYEALZ65N5DSRW6HOUI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiming Ren, Karen M. Feigh, Roman Mineyev, Samuel Coogan, Xuan Lin, Ye Zhao","submitted_at":"2025-08-18T23:58:22Z","abstract_excerpt":"Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer programs (MIP). However, in applications for bipedal locomotion, introduction of non-convex constraints such as kinematic reachability and footstep rotation exacerbates the computational complexity of MIPs. In this work, we present a method based on Benders Decomposition to address scenarios where solving the entire monolithic optimization problem is prohibi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.13407","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/2508.13407/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":"2026-07-05T11:56:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MOi2Cph4I2vZYLp6SDENmVWZanT6OOk2FJaEKUnT+ncVyd6+cBPUVEBovDzCbQ2Qw/YLW5oPv7S5ywGBh+1WCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T19:10:54.509132Z"},"content_sha256":"bf7940317c262d695edcb45f4d0307f0c916e85ad51f0413f0133f41fe60b630","schema_version":"1.0","event_id":"sha256:bf7940317c262d695edcb45f4d0307f0c916e85ad51f0413f0133f41fe60b630"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/bundle.json","state_url":"https://pith.science/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/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":"2026-08-06T19:10:54Z","links":{"resolver":"https://pith.science/pith/SJUCG2MAYEALZ65N5DSRW6HOUI","bundle":"https://pith.science/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/bundle.json","state":"https://pith.science/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SJUCG2MAYEALZ65N5DSRW6HOUI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SJUCG2MAYEALZ65N5DSRW6HOUI","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":"a93ff8d044b52af8dc6c4735d498c5c41956753722bbe8e5705444868643d2ac","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T23:58:22Z","title_canon_sha256":"2324d5bd33b65e81392deb6800f7acf5b3f56aa3ef1c349c4944b50a5bb048ff"},"schema_version":"1.0","source":{"id":"2508.13407","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.13407","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"arxiv_version","alias_value":"2508.13407v2","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.13407","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_12","alias_value":"SJUCG2MAYEAL","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_16","alias_value":"SJUCG2MAYEALZ65N","created_at":"2026-07-05T11:56:23Z"},{"alias_kind":"pith_short_8","alias_value":"SJUCG2MA","created_at":"2026-07-05T11:56:23Z"}],"graph_snapshots":[{"event_id":"sha256:bf7940317c262d695edcb45f4d0307f0c916e85ad51f0413f0133f41fe60b630","target":"graph","created_at":"2026-07-05T11:56:23Z","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/2508.13407/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer programs (MIP). However, in applications for bipedal locomotion, introduction of non-convex constraints such as kinematic reachability and footstep rotation exacerbates the computational complexity of MIPs. In this work, we present a method based on Benders Decomposition to address scenarios where solving the entire monolithic optimization problem is prohibi","authors_text":"Jiming Ren, Karen M. Feigh, Roman Mineyev, Samuel Coogan, Xuan Lin, Ye Zhao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T23:58:22Z","title":"Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.13407","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":"sha256:04268a6bff40681bfbd3f029ecb2942b277fb159092b55dc669a65b77997ad9d","target":"record","created_at":"2026-07-05T11:56:23Z","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":"a93ff8d044b52af8dc6c4735d498c5c41956753722bbe8e5705444868643d2ac","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T23:58:22Z","title_canon_sha256":"2324d5bd33b65e81392deb6800f7acf5b3f56aa3ef1c349c4944b50a5bb048ff"},"schema_version":"1.0","source":{"id":"2508.13407","kind":"arxiv","version":2}},"canonical_sha256":"9268236980c100bcfbade8e51b78eea21ab1fe90006b1f0662b64e24250d1d58","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9268236980c100bcfbade8e51b78eea21ab1fe90006b1f0662b64e24250d1d58","first_computed_at":"2026-07-05T11:56:23.469055Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:56:23.469055Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jaV5cGwN9/PjzGDExVSHgZk6eK8xzi/DCWHJJaYnkELw8o5JRHb3hRLF7hhbX2lMuEYR7OHejfuzL7oAjZS3Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:56:23.469544Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.13407","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:04268a6bff40681bfbd3f029ecb2942b277fb159092b55dc669a65b77997ad9d","sha256:bf7940317c262d695edcb45f4d0307f0c916e85ad51f0413f0133f41fe60b630"],"state_sha256":"a2c745987b67137421da13db632919712371523bf28c907af7b83c51eb58b4e2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tiY0sOFkr7IthapVna14rvomfb0/ANv67BkthBsczkshk33BldxqX2Dn+LmF9hkNouLXgENrYtVn5O3AQGhDBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T19:10:54.513134Z","bundle_sha256":"c94f1764e1b17124daf8c533bc990c66097e4ea93819e91d6955c6abc0ad3092"}}