{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:T7M5VY4LQOTVPZQCJKQPZ73XKG","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":"1d8673de06d02b30e866867d5fbf1cb37493c7e0d3f004f71ad5a01648f1d1d5","cross_cats_sorted":["cs.LG","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-21T15:53:06Z","title_canon_sha256":"7137e6ea444d533e3cf7cebf57e7595a08187ea6ace429a67dd7b612b7a56e07"},"schema_version":"1.0","source":{"id":"2404.13698","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.13698","created_at":"2026-07-05T08:10:35Z"},{"alias_kind":"arxiv_version","alias_value":"2404.13698v1","created_at":"2026-07-05T08:10:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.13698","created_at":"2026-07-05T08:10:35Z"},{"alias_kind":"pith_short_12","alias_value":"T7M5VY4LQOTV","created_at":"2026-07-05T08:10:35Z"},{"alias_kind":"pith_short_16","alias_value":"T7M5VY4LQOTVPZQC","created_at":"2026-07-05T08:10:35Z"},{"alias_kind":"pith_short_8","alias_value":"T7M5VY4L","created_at":"2026-07-05T08:10:35Z"}],"graph_snapshots":[{"event_id":"sha256:62607a4df64ab27c24a3e9f8fcb31e1f2db7fd4cd16a305bb58ed4f1cf5f0bf7","target":"graph","created_at":"2026-07-05T08:10:35Z","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/2404.13698/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"State estimation is crucial for the performance and safety of numerous robotic applications. Among the suite of estimation techniques, particle filters have been identified as a powerful solution due to their non-parametric nature. Yet, in high-dimensional state spaces, these filters face challenges such as 'particle deprivation' which hinders accurate representation of the true posterior distribution. This paper introduces a novel resampling-free particle filter designed to mitigate particle deprivation by forgoing the traditional resampling step. This ensures a broader and more diverse parti","authors_text":"Abhiram Iyer, Akhilan Boopathy, Aneesh Muppidi, Ila Fiete, Peggy Yang, William Yue","cross_cats":["cs.LG","stat.ML"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-21T15:53:06Z","title":"Resampling-free Particle Filters in High-dimensions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.13698","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":"sha256:5ad924b61e17823dfc9a52f50dfc85c0ad5149ae04c41d04207e2771e610dfae","target":"record","created_at":"2026-07-05T08:10:35Z","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":"1d8673de06d02b30e866867d5fbf1cb37493c7e0d3f004f71ad5a01648f1d1d5","cross_cats_sorted":["cs.LG","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-21T15:53:06Z","title_canon_sha256":"7137e6ea444d533e3cf7cebf57e7595a08187ea6ace429a67dd7b612b7a56e07"},"schema_version":"1.0","source":{"id":"2404.13698","kind":"arxiv","version":1}},"canonical_sha256":"9fd9dae38b83a757e6024aa0fcff7751b1001814bd8c18e9199fb02e6f7a21b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9fd9dae38b83a757e6024aa0fcff7751b1001814bd8c18e9199fb02e6f7a21b5","first_computed_at":"2026-07-05T08:10:35.974472Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:10:35.974472Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lTdgveG1N7VAr5ThVbe52q3Y5g54ikIgO5OOmBKnrCM+TbUggImQtiToKqYDaBwgNvb+5PadD8nBdvk5+NEaDg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:10:35.974869Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.13698","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5ad924b61e17823dfc9a52f50dfc85c0ad5149ae04c41d04207e2771e610dfae","sha256:62607a4df64ab27c24a3e9f8fcb31e1f2db7fd4cd16a305bb58ed4f1cf5f0bf7"],"state_sha256":"d831b4c7f9cb966ec633047cd87de61f1b95dbd53d63262580045bc7f69618ff"}