{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ULN6OJX64QKGQSPP4B6E4CLQOL","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":"e5de35adaf35a3e84ed904b408dfbcac4c2da82e2b4c8216ff28b0e3e6bec69f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-30T09:35:17Z","title_canon_sha256":"5f03f4eafa0d20b679f5f0b4f7a510f4a993c9bf5a8dedfa66cd3a0407468225"},"schema_version":"1.0","source":{"id":"2501.18229","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.18229","created_at":"2026-07-05T10:07:31Z"},{"alias_kind":"arxiv_version","alias_value":"2501.18229v1","created_at":"2026-07-05T10:07:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.18229","created_at":"2026-07-05T10:07:31Z"},{"alias_kind":"pith_short_12","alias_value":"ULN6OJX64QKG","created_at":"2026-07-05T10:07:31Z"},{"alias_kind":"pith_short_16","alias_value":"ULN6OJX64QKGQSPP","created_at":"2026-07-05T10:07:31Z"},{"alias_kind":"pith_short_8","alias_value":"ULN6OJX6","created_at":"2026-07-05T10:07:31Z"}],"graph_snapshots":[{"event_id":"sha256:6b73652d7bfd320b5689292acd4db10c7f2e164682eb8da97f79228d5d8b42ff","target":"graph","created_at":"2026-07-05T10:07:31Z","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/2501.18229/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Diffusion-based motion planners are becoming popular due to their well-established performance improvements, stemming from sample diversity and the ease of incorporating new constraints directly during inference. However, a primary limitation of the diffusion process is the requirement for a substantial number of denoising steps, especially when the denoising process is coupled with gradient-based guidance. In this paper, we introduce, diffusion in the parametric space of trajectories, where the parameters are represented as Bernstein coefficients. We show that this representation greatly impr","authors_text":"Ajit Srikanth, Arun Singh, Brojeshwar Bhowmick, Kallol Saha, Madhava Krishna, Parth Mahanjan, Pawan Wadhwani, Pranjal Paul, Vishal Mandadi","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-30T09:35:17Z","title":"GPD: Guided Polynomial Diffusion for Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.18229","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":"sha256:15f6e542cf5bd784df1d5a914b597f6d5d8f9c5f096584987e94998f643a2df9","target":"record","created_at":"2026-07-05T10:07:31Z","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":"e5de35adaf35a3e84ed904b408dfbcac4c2da82e2b4c8216ff28b0e3e6bec69f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-30T09:35:17Z","title_canon_sha256":"5f03f4eafa0d20b679f5f0b4f7a510f4a993c9bf5a8dedfa66cd3a0407468225"},"schema_version":"1.0","source":{"id":"2501.18229","kind":"arxiv","version":1}},"canonical_sha256":"a2dbe726fee4146849efe07c4e097072d290621e4979770b6b58436cc2b0de8b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a2dbe726fee4146849efe07c4e097072d290621e4979770b6b58436cc2b0de8b","first_computed_at":"2026-07-05T10:07:31.338754Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:07:31.338754Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jJRH1THZzHAUUB+aiUjYJbJp+NJnPzYnEU/dzy6KHTqdhPJaF1PSK0tq8jiSBbZeS1oJANg44/WU9XAHYl6wAw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:07:31.339404Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.18229","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:15f6e542cf5bd784df1d5a914b597f6d5d8f9c5f096584987e94998f643a2df9","sha256:6b73652d7bfd320b5689292acd4db10c7f2e164682eb8da97f79228d5d8b42ff"],"state_sha256":"eeb31b928d03888a7f0ed8b009888047959f77a3b5fcb7396b093d6a12ae9acb"}