{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:UHHUH5BZ2VXQOOUE3Q7PX634F7","short_pith_number":"pith:UHHUH5BZ","canonical_record":{"source":{"id":"2505.15679","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-21T15:56:55Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"5e3a43ed1f3f8a5632e5f8d6f62c12e62e52ab1f547ee79766b39949cc7a356e","abstract_canon_sha256":"31816dc410dd9106af0e141859ac0eadafabd926080da402dbed9afec81b2cd9"},"schema_version":"1.0"},"canonical_sha256":"a1cf43f439d56f073a84dc3efbfb7c2fd162cdaaca087baee303c713da591bb8","source":{"kind":"arxiv","id":"2505.15679","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.15679","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"arxiv_version","alias_value":"2505.15679v1","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.15679","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_12","alias_value":"UHHUH5BZ2VXQ","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_16","alias_value":"UHHUH5BZ2VXQOOUE","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_8","alias_value":"UHHUH5BZ","created_at":"2026-07-05T11:06:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:UHHUH5BZ2VXQOOUE3Q7PX634F7","target":"record","payload":{"canonical_record":{"source":{"id":"2505.15679","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-21T15:56:55Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"5e3a43ed1f3f8a5632e5f8d6f62c12e62e52ab1f547ee79766b39949cc7a356e","abstract_canon_sha256":"31816dc410dd9106af0e141859ac0eadafabd926080da402dbed9afec81b2cd9"},"schema_version":"1.0"},"canonical_sha256":"a1cf43f439d56f073a84dc3efbfb7c2fd162cdaaca087baee303c713da591bb8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:06:49.464104Z","signature_b64":"dOMsH+WSESwaWFtUQHl4nY1cWvZRiHsLl7axwvQAKxkUWAZGupR2E8acjfAWWiI5KCTDeu/eRo/9XmVXEdZiCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a1cf43f439d56f073a84dc3efbfb7c2fd162cdaaca087baee303c713da591bb8","last_reissued_at":"2026-07-05T11:06:49.463668Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:06:49.463668Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.15679","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":"2026-07-05T11:06:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9pClX80Hrm7eHeFBbRUoLARR+ciB+oPJB6YaagqijpZr86o0xjoEqe4Xurk1LfP31GF04FiF5h1LSwTCcezoAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T14:37:19.624864Z"},"content_sha256":"f53aee54cc228ab6963ee640417927d4ef1b8a2bb55bbf4057776b5272ec3da1","schema_version":"1.0","event_id":"sha256:f53aee54cc228ab6963ee640417927d4ef1b8a2bb55bbf4057776b5272ec3da1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:UHHUH5BZ2VXQOOUE3Q7PX634F7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Chang Liu, Chunxuan Jiao, Kang Ding, Kangjie Zhou, Pengying Wu, Yao Mu, Yunze Hu","submitted_at":"2025-05-21T15:56:55Z","abstract_excerpt":"Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable generative framework for swarm robots. We model the swarm's macroscopic state using Probability Density Functions (PDFs) and leverage conditional diffusion models to generate risk-aware macroscopic trajectory distributions, which then guide the generation of individual robot trajectories at the microscopic level. To ensure a balance between the swarm's optimal tra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.15679","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/2505.15679/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":"2026-07-05T11:06:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A7LfZC++GRMovShhBRC+Ueh2PtPkU0hyJ+YZNh4SpG7tmrdNR7EzY9Gzf2REFxBsvhnnTU9saBZATvFSWZO/DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T14:37:19.625417Z"},"content_sha256":"980d5802eb478479a45517bf91f21485f2213cc71d27974826d7b05f2603dd53","schema_version":"1.0","event_id":"sha256:980d5802eb478479a45517bf91f21485f2213cc71d27974826d7b05f2603dd53"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/bundle.json","state_url":"https://pith.science/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/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":"2026-08-09T14:37:19Z","links":{"resolver":"https://pith.science/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7","bundle":"https://pith.science/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/bundle.json","state":"https://pith.science/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UHHUH5BZ2VXQOOUE3Q7PX634F7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UHHUH5BZ2VXQOOUE3Q7PX634F7","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":"31816dc410dd9106af0e141859ac0eadafabd926080da402dbed9afec81b2cd9","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-21T15:56:55Z","title_canon_sha256":"5e3a43ed1f3f8a5632e5f8d6f62c12e62e52ab1f547ee79766b39949cc7a356e"},"schema_version":"1.0","source":{"id":"2505.15679","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.15679","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"arxiv_version","alias_value":"2505.15679v1","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.15679","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_12","alias_value":"UHHUH5BZ2VXQ","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_16","alias_value":"UHHUH5BZ2VXQOOUE","created_at":"2026-07-05T11:06:49Z"},{"alias_kind":"pith_short_8","alias_value":"UHHUH5BZ","created_at":"2026-07-05T11:06:49Z"}],"graph_snapshots":[{"event_id":"sha256:980d5802eb478479a45517bf91f21485f2213cc71d27974826d7b05f2603dd53","target":"graph","created_at":"2026-07-05T11:06:49Z","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/2505.15679/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable generative framework for swarm robots. We model the swarm's macroscopic state using Probability Density Functions (PDFs) and leverage conditional diffusion models to generate risk-aware macroscopic trajectory distributions, which then guide the generation of individual robot trajectories at the microscopic level. To ensure a balance between the swarm's optimal tra","authors_text":"Chang Liu, Chunxuan Jiao, Kang Ding, Kangjie Zhou, Pengying Wu, Yao Mu, Yunze Hu","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-21T15:56:55Z","title":"SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.15679","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:f53aee54cc228ab6963ee640417927d4ef1b8a2bb55bbf4057776b5272ec3da1","target":"record","created_at":"2026-07-05T11:06:49Z","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":"31816dc410dd9106af0e141859ac0eadafabd926080da402dbed9afec81b2cd9","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-21T15:56:55Z","title_canon_sha256":"5e3a43ed1f3f8a5632e5f8d6f62c12e62e52ab1f547ee79766b39949cc7a356e"},"schema_version":"1.0","source":{"id":"2505.15679","kind":"arxiv","version":1}},"canonical_sha256":"a1cf43f439d56f073a84dc3efbfb7c2fd162cdaaca087baee303c713da591bb8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a1cf43f439d56f073a84dc3efbfb7c2fd162cdaaca087baee303c713da591bb8","first_computed_at":"2026-07-05T11:06:49.463668Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:06:49.463668Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dOMsH+WSESwaWFtUQHl4nY1cWvZRiHsLl7axwvQAKxkUWAZGupR2E8acjfAWWiI5KCTDeu/eRo/9XmVXEdZiCw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:06:49.464104Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.15679","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f53aee54cc228ab6963ee640417927d4ef1b8a2bb55bbf4057776b5272ec3da1","sha256:980d5802eb478479a45517bf91f21485f2213cc71d27974826d7b05f2603dd53"],"state_sha256":"30d4771b181fed82babe73f4de97b7dab23f4cf9e0e261a129ed9a9f3d1d2683"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HSR6HFo1jjJuWzIXlvPnH8f/NdW6MfjJCnsiiRd3B+aLhpB8/ZEzP20xDc8S4JHdxKQce7UXcgKQUQ4FiiC1BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T14:37:19.628985Z","bundle_sha256":"2d49693128a18fdb05ead226f1ebf080adbc178abcc1a3dedb6d0396c0bbab62"}}