{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:VL3X4K453QOHIFMAEUOXRZA7ZQ","short_pith_number":"pith:VL3X4K45","canonical_record":{"source":{"id":"2308.05444","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T09:01:18Z","cross_cats_sorted":[],"title_canon_sha256":"f07f0ab5194a658856c2589d296fa73ff57fb781e36375b851c8d8cd38df42f6","abstract_canon_sha256":"6882916f97bd815b5c8c83339df2aec0978df297f841415cb4162c5b2d47a8a3"},"schema_version":"1.0"},"canonical_sha256":"aaf77e2b9ddc1c741580251d78e41fcc25f4be8786b1a924758637278c4833ce","source":{"kind":"arxiv","id":"2308.05444","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.05444","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"arxiv_version","alias_value":"2308.05444v1","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.05444","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_12","alias_value":"VL3X4K453QOH","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_16","alias_value":"VL3X4K453QOHIFMA","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_8","alias_value":"VL3X4K45","created_at":"2026-07-05T09:25:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:VL3X4K453QOHIFMAEUOXRZA7ZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2308.05444","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T09:01:18Z","cross_cats_sorted":[],"title_canon_sha256":"f07f0ab5194a658856c2589d296fa73ff57fb781e36375b851c8d8cd38df42f6","abstract_canon_sha256":"6882916f97bd815b5c8c83339df2aec0978df297f841415cb4162c5b2d47a8a3"},"schema_version":"1.0"},"canonical_sha256":"aaf77e2b9ddc1c741580251d78e41fcc25f4be8786b1a924758637278c4833ce","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:25:31.977081Z","signature_b64":"X0YZ67vsScJ3AJSGox9WnKNb1jCO5gU7z9i2bBVUuwmqWfq2P3cf93kA8OHKEozkcETl86DEkY52uB00PRXrDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aaf77e2b9ddc1c741580251d78e41fcc25f4be8786b1a924758637278c4833ce","last_reissued_at":"2026-07-05T09:25:31.976537Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:25:31.976537Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.05444","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":"2026-07-05T09:25:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m+ZP8n8UxyfQ9nDdAZpyhhcPydF3UW9SAXL5M4bc7HMJORivYx2m877p/65Y6BdEGCEOpGihVqzj2eByznmmDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:06:54.984341Z"},"content_sha256":"b1dc0857668bae2cfb1a0488da848a79aff6e29537e650f9fce371dca302775f","schema_version":"1.0","event_id":"sha256:b1dc0857668bae2cfb1a0488da848a79aff6e29537e650f9fce371dca302775f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:VL3X4K453QOHIFMAEUOXRZA7ZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"How-to Augmented Lagrangian on Factor Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Barbara Bazzana, Giorgio Grisetti, Henrik Andreasson","submitted_at":"2023-08-10T09:01:18Z","abstract_excerpt":"Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. In this paper we describe an approach to fill the gap with other areas, such as optimal control, by presenting an extension of Factor Graph Solvers to constrained optimization. The core idea of our method is to encapsulate the Augmented Lagrangian (AL) method in factors of the graph that can be integrated straightforwardly in existing factor graph solvers. We show the generali"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.05444","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/2308.05444/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":"2026-07-05T09:25:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vzVlPIcARTqr6jPBpH7bORbljTGgrEtGDuaXf/u1SCpq11FYQwWz6xg6O/oHeX2B0rmOnI/zmtrJKUYpJVUsDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:06:54.984851Z"},"content_sha256":"49d6ab1860bfccd7078731d42304454433c4b0ce60764e4855f2889ddcc88aee","schema_version":"1.0","event_id":"sha256:49d6ab1860bfccd7078731d42304454433c4b0ce60764e4855f2889ddcc88aee"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/bundle.json","state_url":"https://pith.science/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/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":"2026-08-03T16:06:54Z","links":{"resolver":"https://pith.science/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ","bundle":"https://pith.science/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/bundle.json","state":"https://pith.science/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VL3X4K453QOHIFMAEUOXRZA7ZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:VL3X4K453QOHIFMAEUOXRZA7ZQ","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":"6882916f97bd815b5c8c83339df2aec0978df297f841415cb4162c5b2d47a8a3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T09:01:18Z","title_canon_sha256":"f07f0ab5194a658856c2589d296fa73ff57fb781e36375b851c8d8cd38df42f6"},"schema_version":"1.0","source":{"id":"2308.05444","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.05444","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"arxiv_version","alias_value":"2308.05444v1","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.05444","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_12","alias_value":"VL3X4K453QOH","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_16","alias_value":"VL3X4K453QOHIFMA","created_at":"2026-07-05T09:25:31Z"},{"alias_kind":"pith_short_8","alias_value":"VL3X4K45","created_at":"2026-07-05T09:25:31Z"}],"graph_snapshots":[{"event_id":"sha256:49d6ab1860bfccd7078731d42304454433c4b0ce60764e4855f2889ddcc88aee","target":"graph","created_at":"2026-07-05T09:25:31Z","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/2308.05444/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. In this paper we describe an approach to fill the gap with other areas, such as optimal control, by presenting an extension of Factor Graph Solvers to constrained optimization. The core idea of our method is to encapsulate the Augmented Lagrangian (AL) method in factors of the graph that can be integrated straightforwardly in existing factor graph solvers. We show the generali","authors_text":"Barbara Bazzana, Giorgio Grisetti, Henrik Andreasson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T09:01:18Z","title":"How-to Augmented Lagrangian on Factor Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.05444","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:b1dc0857668bae2cfb1a0488da848a79aff6e29537e650f9fce371dca302775f","target":"record","created_at":"2026-07-05T09:25:31Z","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":"6882916f97bd815b5c8c83339df2aec0978df297f841415cb4162c5b2d47a8a3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-10T09:01:18Z","title_canon_sha256":"f07f0ab5194a658856c2589d296fa73ff57fb781e36375b851c8d8cd38df42f6"},"schema_version":"1.0","source":{"id":"2308.05444","kind":"arxiv","version":1}},"canonical_sha256":"aaf77e2b9ddc1c741580251d78e41fcc25f4be8786b1a924758637278c4833ce","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aaf77e2b9ddc1c741580251d78e41fcc25f4be8786b1a924758637278c4833ce","first_computed_at":"2026-07-05T09:25:31.976537Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:25:31.976537Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"X0YZ67vsScJ3AJSGox9WnKNb1jCO5gU7z9i2bBVUuwmqWfq2P3cf93kA8OHKEozkcETl86DEkY52uB00PRXrDA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:25:31.977081Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.05444","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b1dc0857668bae2cfb1a0488da848a79aff6e29537e650f9fce371dca302775f","sha256:49d6ab1860bfccd7078731d42304454433c4b0ce60764e4855f2889ddcc88aee"],"state_sha256":"4d1ad03098a31c291a92de76c5c3b79a6beed2a78783ee6d31e54fd350eb8acf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GTY2uZxleqTS8CkTpwOYZp0TNyhYyzn5ApS4ZRtyK0EQJ5sbRf5viYY6ddhdMZGoAm3n1+I+du0G1gvi3OduAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:06:54.988313Z","bundle_sha256":"285dce1413d96364f49f579f1e0fcfc878cf06aa4211abb5540e9ebfece8f9ed"}}