{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:UXBXVIRKX3CIGHLE7N4CSXI6UB","short_pith_number":"pith:UXBXVIRK","canonical_record":{"source":{"id":"2504.16734","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-23T14:05:04Z","cross_cats_sorted":[],"title_canon_sha256":"ea79796c205487cb9f66abcf237d4d370aa47e6433f05568043a858d21b6e1cc","abstract_canon_sha256":"39a816b7f76b1855c3ffcbab4107358c5fecd7a74eb29deef61b952e739fb035"},"schema_version":"1.0"},"canonical_sha256":"a5c37aa22abec4831d64fb78295d1ea0571b9db7a30b3446f506229bfc976fa5","source":{"kind":"arxiv","id":"2504.16734","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.16734","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"2504.16734v3","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.16734","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"UXBXVIRKX3CI","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_16","alias_value":"UXBXVIRKX3CIGHLE","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_8","alias_value":"UXBXVIRK","created_at":"2026-07-05T11:04:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:UXBXVIRKX3CIGHLE7N4CSXI6UB","target":"record","payload":{"canonical_record":{"source":{"id":"2504.16734","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-23T14:05:04Z","cross_cats_sorted":[],"title_canon_sha256":"ea79796c205487cb9f66abcf237d4d370aa47e6433f05568043a858d21b6e1cc","abstract_canon_sha256":"39a816b7f76b1855c3ffcbab4107358c5fecd7a74eb29deef61b952e739fb035"},"schema_version":"1.0"},"canonical_sha256":"a5c37aa22abec4831d64fb78295d1ea0571b9db7a30b3446f506229bfc976fa5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:04:49.791204Z","signature_b64":"E9X4a+l96yDp3x3DlofgHMLW8BKHW3zbOi/kdFn83KjwB3QrM1enKD7pAwCMfRXKac1TamrcIlKYWnJCnRNHBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a5c37aa22abec4831d64fb78295d1ea0571b9db7a30b3446f506229bfc976fa5","last_reissued_at":"2026-07-05T11:04:49.790687Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:04:49.790687Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.16734","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:04:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dRgsEgXsk/IS5O10I0byRxhrZi/R+k+VWHrqTJcBWp5/WAiGJ8bFGhR655XTP0Pkx/URzQeFsg79JaG+A9M/Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T13:14:35.769510Z"},"content_sha256":"3f231ef5bb68da72ba690f91e6527bf4b964fcd9fed79ecfcdc105188d9b869f","schema_version":"1.0","event_id":"sha256:3f231ef5bb68da72ba690f91e6527bf4b964fcd9fed79ecfcdc105188d9b869f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:UXBXVIRKX3CIGHLE7N4CSXI6UB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Harvey Merton, Jialin Chen, Jonathan P. How, Juan Rached Viso, Kota Kondo, Lucas Jia, Mason Peterson, Nicholas Rober","submitted_at":"2025-04-23T14:05:04Z","abstract_excerpt":"This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably, because the agent cannot predict the ground-truth future paths of obstacles, a previously planned trajectory can become unsafe at any moment, requiring rapid replanning to avoid collisions.\n  Recently developed planners have used soft-constraint approaches to achieve the necessary fast computation times; however, these methods do not guarantee collision-free paths even with static obstacles. In contrast, hard-constr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.16734","kind":"arxiv","version":3},"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/2504.16734/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":"2026-07-05T11:04:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TXidEr8neSppzTJL6v7QIt0X4MYsHMqIjmviBlZo30aOiEh7z9aHeEs8ZyRBOUbOrfZUriU9fyo88FeXzvffDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T13:14:35.770228Z"},"content_sha256":"8f11749536e8a3f04e0d56ff60418a4572b194d5287b82ddc9778e259db5b87b","schema_version":"1.0","event_id":"sha256:8f11749536e8a3f04e0d56ff60418a4572b194d5287b82ddc9778e259db5b87b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/bundle.json","state_url":"https://pith.science/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/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":"2026-08-18T13:14:35Z","links":{"resolver":"https://pith.science/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB","bundle":"https://pith.science/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/bundle.json","state":"https://pith.science/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UXBXVIRKX3CIGHLE7N4CSXI6UB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UXBXVIRKX3CIGHLE7N4CSXI6UB","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":"39a816b7f76b1855c3ffcbab4107358c5fecd7a74eb29deef61b952e739fb035","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-23T14:05:04Z","title_canon_sha256":"ea79796c205487cb9f66abcf237d4d370aa47e6433f05568043a858d21b6e1cc"},"schema_version":"1.0","source":{"id":"2504.16734","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.16734","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"2504.16734v3","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.16734","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"UXBXVIRKX3CI","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_16","alias_value":"UXBXVIRKX3CIGHLE","created_at":"2026-07-05T11:04:49Z"},{"alias_kind":"pith_short_8","alias_value":"UXBXVIRK","created_at":"2026-07-05T11:04:49Z"}],"graph_snapshots":[{"event_id":"sha256:8f11749536e8a3f04e0d56ff60418a4572b194d5287b82ddc9778e259db5b87b","target":"graph","created_at":"2026-07-05T11:04:49Z","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/2504.16734/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably, because the agent cannot predict the ground-truth future paths of obstacles, a previously planned trajectory can become unsafe at any moment, requiring rapid replanning to avoid collisions.\n  Recently developed planners have used soft-constraint approaches to achieve the necessary fast computation times; however, these methods do not guarantee collision-free paths even with static obstacles. In contrast, hard-constr","authors_text":"Harvey Merton, Jialin Chen, Jonathan P. How, Juan Rached Viso, Kota Kondo, Lucas Jia, Mason Peterson, Nicholas Rober","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-23T14:05:04Z","title":"DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.16734","kind":"arxiv","version":3},"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":"sha256:3f231ef5bb68da72ba690f91e6527bf4b964fcd9fed79ecfcdc105188d9b869f","target":"record","created_at":"2026-07-05T11:04:49Z","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":"39a816b7f76b1855c3ffcbab4107358c5fecd7a74eb29deef61b952e739fb035","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-23T14:05:04Z","title_canon_sha256":"ea79796c205487cb9f66abcf237d4d370aa47e6433f05568043a858d21b6e1cc"},"schema_version":"1.0","source":{"id":"2504.16734","kind":"arxiv","version":3}},"canonical_sha256":"a5c37aa22abec4831d64fb78295d1ea0571b9db7a30b3446f506229bfc976fa5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5c37aa22abec4831d64fb78295d1ea0571b9db7a30b3446f506229bfc976fa5","first_computed_at":"2026-07-05T11:04:49.790687Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:04:49.790687Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E9X4a+l96yDp3x3DlofgHMLW8BKHW3zbOi/kdFn83KjwB3QrM1enKD7pAwCMfRXKac1TamrcIlKYWnJCnRNHBA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:04:49.791204Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.16734","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f231ef5bb68da72ba690f91e6527bf4b964fcd9fed79ecfcdc105188d9b869f","sha256:8f11749536e8a3f04e0d56ff60418a4572b194d5287b82ddc9778e259db5b87b"],"state_sha256":"1fff5d4bd80b8099ec8717192419c53172bf4f4e6ad69e2e9ded8e460583ed6f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xW9Tkt80zXQ7BoUVOlSt306Fnsf0CbzykrOOGJEj8cMowos1QyEP8L83FVTVcatj1YymlFpwJ0RXOJNihOukBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T13:14:35.775927Z","bundle_sha256":"b69f897315b291d6f4631c563c657401092aaf65858158b3f6c8275aa5e02409"}}