{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:WWE4KJMIQSI4CESABRRPBIEFIL","short_pith_number":"pith:WWE4KJMI","canonical_record":{"source":{"id":"1807.10425","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-27T03:49:45Z","cross_cats_sorted":[],"title_canon_sha256":"811c89c403e203aa085c78d1713f5d06f1f9631c3f48b78c85aaea76cc7d5531","abstract_canon_sha256":"b1c75f77fb172c282c898935d742c5f1dda47953c5ae0711e80ccc2f2b0d2602"},"schema_version":"1.0"},"canonical_sha256":"b589c525888491c112400c62f0a08542e2b5c8b1501de1ee802299713bf7ce07","source":{"kind":"arxiv","id":"1807.10425","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.10425","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"arxiv_version","alias_value":"1807.10425v1","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.10425","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"pith_short_12","alias_value":"WWE4KJMIQSI4","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"WWE4KJMIQSI4CESA","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"WWE4KJMI","created_at":"2026-05-18T12:33:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:WWE4KJMIQSI4CESABRRPBIEFIL","target":"record","payload":{"canonical_record":{"source":{"id":"1807.10425","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-27T03:49:45Z","cross_cats_sorted":[],"title_canon_sha256":"811c89c403e203aa085c78d1713f5d06f1f9631c3f48b78c85aaea76cc7d5531","abstract_canon_sha256":"b1c75f77fb172c282c898935d742c5f1dda47953c5ae0711e80ccc2f2b0d2602"},"schema_version":"1.0"},"canonical_sha256":"b589c525888491c112400c62f0a08542e2b5c8b1501de1ee802299713bf7ce07","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:09:40.660661Z","signature_b64":"PUIX8HvWP/I29fC+lVulxOr1KEEMR4ttuf5uG3pAkVW8fPwDmKuiH5DZjtOYsb4MbSjjE7OYFzeUxSug75D0BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b589c525888491c112400c62f0a08542e2b5c8b1501de1ee802299713bf7ce07","last_reissued_at":"2026-05-18T00:09:40.659973Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:09:40.659973Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.10425","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":"2026-05-18T00:09:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kE36f+yqEEw4tBKAyTv7s0JwDbLdrsqbI9kPWrhLdKBO+wFWWlI7qUNlqu/Ap/jcRZs7h3FCwk46aii7Lh5zDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T06:37:50.653867Z"},"content_sha256":"0ff36d71ae3c687c4c2ec71adae1d27e457fb58208ae521f17179a89af919098","schema_version":"1.0","event_id":"sha256:0ff36d71ae3c687c4c2ec71adae1d27e457fb58208ae521f17179a89af919098"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:WWE4KJMIQSI4CESABRRPBIEFIL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"STEAP: simultaneous trajectory estimation and planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Byron Boots, Frank Dellaert, Jing Dong, Mustafa Mukadam","submitted_at":"2018-07-27T03:49:45Z","abstract_excerpt":"We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them simultaneously can be more accurate and efficient. The key idea is to compute the full continuous-time trajectory from start to goal at each time-step. While the robot traverses the trajectory, the history portion of the trajectory signifies the solution to the estimation problem, and the future portion of the trajectory signifies a solution to the planning problem. B"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.10425","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":""},"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":"2026-05-18T00:09:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XzrwfqkkkFq/AI01q1aNgiICmJxkv7HO+EV2OaxJKZyMoZWxUKdqiD/ta/dolItB0lxzNYCs7UQwLT8I48yaAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T06:37:50.654641Z"},"content_sha256":"b14d6da585b902b107f2af36d8137b9c2c1ed50d6cf96f026db3ccf372139a39","schema_version":"1.0","event_id":"sha256:b14d6da585b902b107f2af36d8137b9c2c1ed50d6cf96f026db3ccf372139a39"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WWE4KJMIQSI4CESABRRPBIEFIL/bundle.json","state_url":"https://pith.science/pith/WWE4KJMIQSI4CESABRRPBIEFIL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WWE4KJMIQSI4CESABRRPBIEFIL/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":"2026-05-31T06:37:50Z","links":{"resolver":"https://pith.science/pith/WWE4KJMIQSI4CESABRRPBIEFIL","bundle":"https://pith.science/pith/WWE4KJMIQSI4CESABRRPBIEFIL/bundle.json","state":"https://pith.science/pith/WWE4KJMIQSI4CESABRRPBIEFIL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WWE4KJMIQSI4CESABRRPBIEFIL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:WWE4KJMIQSI4CESABRRPBIEFIL","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":"b1c75f77fb172c282c898935d742c5f1dda47953c5ae0711e80ccc2f2b0d2602","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-27T03:49:45Z","title_canon_sha256":"811c89c403e203aa085c78d1713f5d06f1f9631c3f48b78c85aaea76cc7d5531"},"schema_version":"1.0","source":{"id":"1807.10425","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.10425","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"arxiv_version","alias_value":"1807.10425v1","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.10425","created_at":"2026-05-18T00:09:40Z"},{"alias_kind":"pith_short_12","alias_value":"WWE4KJMIQSI4","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"WWE4KJMIQSI4CESA","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"WWE4KJMI","created_at":"2026-05-18T12:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:b14d6da585b902b107f2af36d8137b9c2c1ed50d6cf96f026db3ccf372139a39","target":"graph","created_at":"2026-05-18T00:09:40Z","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"},"paper":{"abstract_excerpt":"We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them simultaneously can be more accurate and efficient. The key idea is to compute the full continuous-time trajectory from start to goal at each time-step. While the robot traverses the trajectory, the history portion of the trajectory signifies the solution to the estimation problem, and the future portion of the trajectory signifies a solution to the planning problem. B","authors_text":"Byron Boots, Frank Dellaert, Jing Dong, Mustafa Mukadam","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-27T03:49:45Z","title":"STEAP: simultaneous trajectory estimation and planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.10425","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":"sha256:0ff36d71ae3c687c4c2ec71adae1d27e457fb58208ae521f17179a89af919098","target":"record","created_at":"2026-05-18T00:09:40Z","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":"b1c75f77fb172c282c898935d742c5f1dda47953c5ae0711e80ccc2f2b0d2602","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-27T03:49:45Z","title_canon_sha256":"811c89c403e203aa085c78d1713f5d06f1f9631c3f48b78c85aaea76cc7d5531"},"schema_version":"1.0","source":{"id":"1807.10425","kind":"arxiv","version":1}},"canonical_sha256":"b589c525888491c112400c62f0a08542e2b5c8b1501de1ee802299713bf7ce07","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b589c525888491c112400c62f0a08542e2b5c8b1501de1ee802299713bf7ce07","first_computed_at":"2026-05-18T00:09:40.659973Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:09:40.659973Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PUIX8HvWP/I29fC+lVulxOr1KEEMR4ttuf5uG3pAkVW8fPwDmKuiH5DZjtOYsb4MbSjjE7OYFzeUxSug75D0BA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:09:40.660661Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.10425","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0ff36d71ae3c687c4c2ec71adae1d27e457fb58208ae521f17179a89af919098","sha256:b14d6da585b902b107f2af36d8137b9c2c1ed50d6cf96f026db3ccf372139a39"],"state_sha256":"3a568e1eb3a21904d4598f70932bf8f725a04d463531877fb6b714c621ddb99d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qNn4Gp2Z5jKNii8GvlvFdULbuM2Moe/XZDV8+euGSwlaew0MYU6A4eV+uZXKVbopjk13H0hK/FYqoKASL1EZBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T06:37:50.659226Z","bundle_sha256":"f410587a879387deec3ecea789833b6139c49e4b7bd69533b19f681c800b7fac"}}