{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:TXZNKUPFBM2GFBJ3JU2SVA37OJ","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":"951150b33f6ed5b9ed1938c5fc574fd51d3444a27f0ffa6997ab3c2ba743291e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-19T19:49:43Z","title_canon_sha256":"1ad03d4743be3d493b2d4af175bbf7bd1bd978b2f09e3c795ed531e729ff4ea2"},"schema_version":"1.0","source":{"id":"2411.12837","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.12837","created_at":"2026-07-05T09:38:01Z"},{"alias_kind":"arxiv_version","alias_value":"2411.12837v1","created_at":"2026-07-05T09:38:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.12837","created_at":"2026-07-05T09:38:01Z"},{"alias_kind":"pith_short_12","alias_value":"TXZNKUPFBM2G","created_at":"2026-07-05T09:38:01Z"},{"alias_kind":"pith_short_16","alias_value":"TXZNKUPFBM2GFBJ3","created_at":"2026-07-05T09:38:01Z"},{"alias_kind":"pith_short_8","alias_value":"TXZNKUPF","created_at":"2026-07-05T09:38:01Z"}],"graph_snapshots":[{"event_id":"sha256:39b5bacb68e1df1a30639b043c2f1a6e19c408d019e5c6308476a97fff39c0e3","target":"graph","created_at":"2026-07-05T09:38:01Z","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/2411.12837/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We consider the setting where a robot must complete a sequence of tasks in a persistent large-scale environment, given one at a time. Existing task planners often operate myopically, focusing solely on immediate goals without considering the impact of current actions on future tasks. Anticipatory planning, which reduces the joint objective of the immediate planning cost of the current task and the expected cost associated with future subsequent tasks, offers an approach for improving long-lived task planning. However, applying anticipatory planning in large-scale environments presents signific","authors_text":"Gregory J. Stein, Md Ridwan Hossain Talukder, Raihan Islam Arnob","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-19T19:49:43Z","title":"Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.12837","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:cf5ab37819e22c652c46875d40210bb56ef8559b43d4d955d5d97f566ebf2831","target":"record","created_at":"2026-07-05T09:38:01Z","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":"951150b33f6ed5b9ed1938c5fc574fd51d3444a27f0ffa6997ab3c2ba743291e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-19T19:49:43Z","title_canon_sha256":"1ad03d4743be3d493b2d4af175bbf7bd1bd978b2f09e3c795ed531e729ff4ea2"},"schema_version":"1.0","source":{"id":"2411.12837","kind":"arxiv","version":1}},"canonical_sha256":"9df2d551e50b3462853b4d352a837f7251879656eb099d64114d56d62ba01667","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9df2d551e50b3462853b4d352a837f7251879656eb099d64114d56d62ba01667","first_computed_at":"2026-07-05T09:38:01.117208Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:38:01.117208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gr9asD4dVmXEzD7hkKe8R3gVQlaldUlaUAn9c9zfwk8N3en3H4ZOIdXGNy0XgzM+APK5ALx1K8UD3y+cHfnFAA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:38:01.117676Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.12837","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cf5ab37819e22c652c46875d40210bb56ef8559b43d4d955d5d97f566ebf2831","sha256:39b5bacb68e1df1a30639b043c2f1a6e19c408d019e5c6308476a97fff39c0e3"],"state_sha256":"d405d838ec381d0067c67546ea282cb8f9f5527d76410dd9fb68dcc0d11ca873"}