{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:W7XBJBIWXQLGQS4SBVLGPQK63P","short_pith_number":"pith:W7XBJBIW","canonical_record":{"source":{"id":"2507.14099","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-18T17:25:54Z","cross_cats_sorted":[],"title_canon_sha256":"4e72013356b8bc63b52a0c1e1870f43e00e84af46b968b028d7118a5c3842e09","abstract_canon_sha256":"a58f4219d020fa2f14be69c319f39443ede1671db8efd8b158f147a6bd8278dc"},"schema_version":"1.0"},"canonical_sha256":"b7ee148516bc16684b920d5667c15edbee8708f059efe0c87e90f662f35dfc96","source":{"kind":"arxiv","id":"2507.14099","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.14099","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"arxiv_version","alias_value":"2507.14099v1","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.14099","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_12","alias_value":"W7XBJBIWXQLG","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_16","alias_value":"W7XBJBIWXQLGQS4S","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_8","alias_value":"W7XBJBIW","created_at":"2026-07-05T11:39:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:W7XBJBIWXQLGQS4SBVLGPQK63P","target":"record","payload":{"canonical_record":{"source":{"id":"2507.14099","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-18T17:25:54Z","cross_cats_sorted":[],"title_canon_sha256":"4e72013356b8bc63b52a0c1e1870f43e00e84af46b968b028d7118a5c3842e09","abstract_canon_sha256":"a58f4219d020fa2f14be69c319f39443ede1671db8efd8b158f147a6bd8278dc"},"schema_version":"1.0"},"canonical_sha256":"b7ee148516bc16684b920d5667c15edbee8708f059efe0c87e90f662f35dfc96","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:39:28.787129Z","signature_b64":"UtO/vBhDZAZkPC60pfgRCYWq4icUcwlzWd1DRBN1eMi51YCP+rud6zy/v5ekIktRC3SJQjxx70lyO+Sv+e5TBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b7ee148516bc16684b920d5667c15edbee8708f059efe0c87e90f662f35dfc96","last_reissued_at":"2026-07-05T11:39:28.786644Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:39:28.786644Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.14099","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":"2026-07-05T11:39:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OY4VeHbCxmluhI2TfOifDm4NxoG7kPUyGBmOYBBb40UIXtZPdQ6j5QMOjVN6OozWqkMcupI+tB/MtohqrhaOBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T17:36:08.714723Z"},"content_sha256":"403d443cb2540fd3fbda7fc5a6a06e332c764d9f60f5c92d77ff79e72e5d222b","schema_version":"1.0","event_id":"sha256:403d443cb2540fd3fbda7fc5a6a06e332c764d9f60f5c92d77ff79e72e5d222b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:W7XBJBIWXQLGQS4SBVLGPQK63P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ignacio Carlucho, Maria Koskinopoulou, Markus Buchholz, Michele Grimaldi, Yvan R. Petillot","submitted_at":"2025-07-18T17:25:54Z","abstract_excerpt":"Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an Adaptive Heuristic Motion Planner framework that integrates a Heuristic Motion Space (HMS) with Bayesian Networks to enhance motion planning for autonomous underwater manipulation. Our approach employs the Probabilistic Roadmap (PRM) algorithm within HMS to optimize paths by minimizing a c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.14099","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/2507.14099/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":"2026-07-05T11:39:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4jb4FJ5qG7xWqFsekzWlyFqhJioHoCacM1XbTywkzlDiVTJBhW3tFo6CatADY52GQvCa0QRydP13jU8poXbbBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T17:36:08.715243Z"},"content_sha256":"df0056039c8e10379812444fdb7cbeb1ab82b8108e7f8a8749050638f02450d8","schema_version":"1.0","event_id":"sha256:df0056039c8e10379812444fdb7cbeb1ab82b8108e7f8a8749050638f02450d8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/bundle.json","state_url":"https://pith.science/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/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":"2026-08-18T17:36:08Z","links":{"resolver":"https://pith.science/pith/W7XBJBIWXQLGQS4SBVLGPQK63P","bundle":"https://pith.science/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/bundle.json","state":"https://pith.science/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/W7XBJBIWXQLGQS4SBVLGPQK63P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:W7XBJBIWXQLGQS4SBVLGPQK63P","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":"a58f4219d020fa2f14be69c319f39443ede1671db8efd8b158f147a6bd8278dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-18T17:25:54Z","title_canon_sha256":"4e72013356b8bc63b52a0c1e1870f43e00e84af46b968b028d7118a5c3842e09"},"schema_version":"1.0","source":{"id":"2507.14099","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.14099","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"arxiv_version","alias_value":"2507.14099v1","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.14099","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_12","alias_value":"W7XBJBIWXQLG","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_16","alias_value":"W7XBJBIWXQLGQS4S","created_at":"2026-07-05T11:39:28Z"},{"alias_kind":"pith_short_8","alias_value":"W7XBJBIW","created_at":"2026-07-05T11:39:28Z"}],"graph_snapshots":[{"event_id":"sha256:df0056039c8e10379812444fdb7cbeb1ab82b8108e7f8a8749050638f02450d8","target":"graph","created_at":"2026-07-05T11:39:28Z","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/2507.14099/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an Adaptive Heuristic Motion Planner framework that integrates a Heuristic Motion Space (HMS) with Bayesian Networks to enhance motion planning for autonomous underwater manipulation. Our approach employs the Probabilistic Roadmap (PRM) algorithm within HMS to optimize paths by minimizing a c","authors_text":"Ignacio Carlucho, Maria Koskinopoulou, Markus Buchholz, Michele Grimaldi, Yvan R. Petillot","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-18T17:25:54Z","title":"Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.14099","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":"sha256:403d443cb2540fd3fbda7fc5a6a06e332c764d9f60f5c92d77ff79e72e5d222b","target":"record","created_at":"2026-07-05T11:39:28Z","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":"a58f4219d020fa2f14be69c319f39443ede1671db8efd8b158f147a6bd8278dc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-18T17:25:54Z","title_canon_sha256":"4e72013356b8bc63b52a0c1e1870f43e00e84af46b968b028d7118a5c3842e09"},"schema_version":"1.0","source":{"id":"2507.14099","kind":"arxiv","version":1}},"canonical_sha256":"b7ee148516bc16684b920d5667c15edbee8708f059efe0c87e90f662f35dfc96","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b7ee148516bc16684b920d5667c15edbee8708f059efe0c87e90f662f35dfc96","first_computed_at":"2026-07-05T11:39:28.786644Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:39:28.786644Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UtO/vBhDZAZkPC60pfgRCYWq4icUcwlzWd1DRBN1eMi51YCP+rud6zy/v5ekIktRC3SJQjxx70lyO+Sv+e5TBA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:39:28.787129Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.14099","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:403d443cb2540fd3fbda7fc5a6a06e332c764d9f60f5c92d77ff79e72e5d222b","sha256:df0056039c8e10379812444fdb7cbeb1ab82b8108e7f8a8749050638f02450d8"],"state_sha256":"54b20d2678c90e076182edf38f43055baf598370e6e6effeacc61991c3912541"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uj85V+b7GHUwGqqD57+lFzH+0ihyYms6UV+qWk/fYlwkJTbwZNMcioy+lS9bTyj93Hvf23GNZs35ZnStr0psCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T17:36:08.720267Z","bundle_sha256":"3f51ea98f14824a193c0e5966baa75da9741c849dfb9c6315e43f6abe0de408a"}}