{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:VJ3YN373B3EWEL2UCGPBNUV3JZ","short_pith_number":"pith:VJ3YN373","canonical_record":{"source":{"id":"2508.21549","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-29T12:05:01Z","cross_cats_sorted":[],"title_canon_sha256":"f49904427531f14a72655accf3b4e1073e27bbbd96416ffc0456187eda1707eb","abstract_canon_sha256":"82f9b065ed7537ab94ceca668c8826bdefa0e6caacdfdcde94dac3b2f47910d2"},"schema_version":"1.0"},"canonical_sha256":"aa7786effb0ec9622f54119e16d2bb4e5072cb868227c5a07c9d7dd47b002855","source":{"kind":"arxiv","id":"2508.21549","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.21549","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"arxiv_version","alias_value":"2508.21549v1","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.21549","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_12","alias_value":"VJ3YN373B3EW","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_16","alias_value":"VJ3YN373B3EWEL2U","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_8","alias_value":"VJ3YN373","created_at":"2026-07-05T12:01:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:VJ3YN373B3EWEL2UCGPBNUV3JZ","target":"record","payload":{"canonical_record":{"source":{"id":"2508.21549","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-29T12:05:01Z","cross_cats_sorted":[],"title_canon_sha256":"f49904427531f14a72655accf3b4e1073e27bbbd96416ffc0456187eda1707eb","abstract_canon_sha256":"82f9b065ed7537ab94ceca668c8826bdefa0e6caacdfdcde94dac3b2f47910d2"},"schema_version":"1.0"},"canonical_sha256":"aa7786effb0ec9622f54119e16d2bb4e5072cb868227c5a07c9d7dd47b002855","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:01:36.526185Z","signature_b64":"EF5CRdN7+ug0FJdDCtg9i5ghFAZ8YKKqoQGIHi5/INk1swr0CcR5EL6ijHJx8DF+3zwyMMjComqkmS3h2UG1Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aa7786effb0ec9622f54119e16d2bb4e5072cb868227c5a07c9d7dd47b002855","last_reissued_at":"2026-07-05T12:01:36.525608Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:01:36.525608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.21549","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":"2026-07-05T12:01:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MnY437r614m+/NWlJApwT15hxvEv8OsBQNbvWAqCpoRsOqwGGWT4L+sESEpORGvlBXk0lFxC5XlWV8Q2fHrMBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T18:30:54.408791Z"},"content_sha256":"766d02d5b02a67dcb8863ead5066438e43f814d06975d300bc174fef0e9c7dca","schema_version":"1.0","event_id":"sha256:766d02d5b02a67dcb8863ead5066438e43f814d06975d300bc174fef0e9c7dca"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:VJ3YN373B3EWEL2UCGPBNUV3JZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Chaoqun Wang, Fan Wu, Kuanqi Cai, Liding Zhang, Sami Haddadin, Yu Zhang, Zhenshan Bing","submitted_at":"2025-08-29T12:05:01Z","abstract_excerpt":"Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed set and anytime strategies to expedite path optimization incrementally. Informed sampling-based planners define informed sets as subsets of the problem domain based on the current best solution cost. However, when no solution is found, these planners re-sample and explore the entire configuration space, which is time-consuming and computationally expensive."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.21549","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/2508.21549/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":"2026-07-05T12:01:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CWblDJKASbPvOV99SxuvqrncOL6JPfDXTMBENEQwj0laWgnsI9y9dBdeX9/Y7b+EYcttJFs+vSDo7Gn4aVXqAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T18:30:54.409295Z"},"content_sha256":"452dd88b008aacc3cc43a11f3d83c28bdcbd6a619a408db8d385e815e174e733","schema_version":"1.0","event_id":"sha256:452dd88b008aacc3cc43a11f3d83c28bdcbd6a619a408db8d385e815e174e733"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/bundle.json","state_url":"https://pith.science/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/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":"2026-08-05T18:30:54Z","links":{"resolver":"https://pith.science/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ","bundle":"https://pith.science/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/bundle.json","state":"https://pith.science/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VJ3YN373B3EWEL2UCGPBNUV3JZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:VJ3YN373B3EWEL2UCGPBNUV3JZ","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":"82f9b065ed7537ab94ceca668c8826bdefa0e6caacdfdcde94dac3b2f47910d2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-29T12:05:01Z","title_canon_sha256":"f49904427531f14a72655accf3b4e1073e27bbbd96416ffc0456187eda1707eb"},"schema_version":"1.0","source":{"id":"2508.21549","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.21549","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"arxiv_version","alias_value":"2508.21549v1","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.21549","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_12","alias_value":"VJ3YN373B3EW","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_16","alias_value":"VJ3YN373B3EWEL2U","created_at":"2026-07-05T12:01:36Z"},{"alias_kind":"pith_short_8","alias_value":"VJ3YN373","created_at":"2026-07-05T12:01:36Z"}],"graph_snapshots":[{"event_id":"sha256:452dd88b008aacc3cc43a11f3d83c28bdcbd6a619a408db8d385e815e174e733","target":"graph","created_at":"2026-07-05T12:01:36Z","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/2508.21549/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed set and anytime strategies to expedite path optimization incrementally. Informed sampling-based planners define informed sets as subsets of the problem domain based on the current best solution cost. However, when no solution is found, these planners re-sample and explore the entire configuration space, which is time-consuming and computationally expensive.","authors_text":"Alois Knoll, Chaoqun Wang, Fan Wu, Kuanqi Cai, Liding Zhang, Sami Haddadin, Yu Zhang, Zhenshan Bing","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-29T12:05:01Z","title":"Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.21549","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":"sha256:766d02d5b02a67dcb8863ead5066438e43f814d06975d300bc174fef0e9c7dca","target":"record","created_at":"2026-07-05T12:01:36Z","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":"82f9b065ed7537ab94ceca668c8826bdefa0e6caacdfdcde94dac3b2f47910d2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-29T12:05:01Z","title_canon_sha256":"f49904427531f14a72655accf3b4e1073e27bbbd96416ffc0456187eda1707eb"},"schema_version":"1.0","source":{"id":"2508.21549","kind":"arxiv","version":1}},"canonical_sha256":"aa7786effb0ec9622f54119e16d2bb4e5072cb868227c5a07c9d7dd47b002855","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aa7786effb0ec9622f54119e16d2bb4e5072cb868227c5a07c9d7dd47b002855","first_computed_at":"2026-07-05T12:01:36.525608Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:01:36.525608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EF5CRdN7+ug0FJdDCtg9i5ghFAZ8YKKqoQGIHi5/INk1swr0CcR5EL6ijHJx8DF+3zwyMMjComqkmS3h2UG1Dg==","signature_status":"signed_v1","signed_at":"2026-07-05T12:01:36.526185Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.21549","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:766d02d5b02a67dcb8863ead5066438e43f814d06975d300bc174fef0e9c7dca","sha256:452dd88b008aacc3cc43a11f3d83c28bdcbd6a619a408db8d385e815e174e733"],"state_sha256":"7db82bb42835db8aa5f86b7f098d3561db4f1f7657039b81f93a7d9bc71fa29b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AXQ68t1ik0W3uoZvXkIZ5pQ28XNoUN9LVMYsDFmDn9wi/XRyD8ysL3f77dPVLnRbPHHswZWJTanLIL5S2lcIAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T18:30:54.412821Z","bundle_sha256":"66175f4dc2dba9f8ece80fcadb1a3f48ec1043c85cb72ae44196b0667445b7ae"}}