{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:XW2FJKVOO2HOXF2KPIAFMPG4VO","short_pith_number":"pith:XW2FJKVO","schema_version":"1.0","canonical_sha256":"bdb454aaae768eeb974a7a00563cdcab8246bcb74a4372d141ab06a566e0a22d","source":{"kind":"arxiv","id":"2606.04355","version":1},"attestation_state":"computed","paper":{"title":"Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Kim, Hanna Kurniawati, J. Arden Knoll, Lydia E. Kavraki, Wil Thomason, Yuanchu Liang, Zachary Kingston","submitted_at":"2026-06-03T02:14:48Z","abstract_excerpt":"Partially Observable Markov Decision Processes (POMDPs) are a general and principled framework for motion planning under uncertainty. Despite tremendous improvement in the scalability of POMDP solvers, long-horizon POMDPs remain difficult to solve. To alleviate the difficulty, this paper proposes a new approximate online POMDP solver, called Reference-Based Online POMDP Planning via Rapid State Space Sampling (ROP-RAS3). ROP-RAS3 uses novel extremely fast sampling-based motion planning techniques to sample the state space and generate a diverse set of macro actions online, which are then used "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.04355","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T02:14:48Z","cross_cats_sorted":[],"title_canon_sha256":"fc03eb5300d3d3efeca29ad0e1e6a7f0ef69fb4adbfe54da4e4352f7982baf02","abstract_canon_sha256":"8c95921a2b61d9a41088d52226ba7f906f4faa90e6bc72581cd18ff1d601ec6e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:09:04.684449Z","signature_b64":"K43MJxT4Un737TTKKwrXbGhibVAsfuCs4HHC9Eq+9eMZ2NhNg0LxSqYMCuegqjaiJHT5e4D823N4PFbmq11rCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bdb454aaae768eeb974a7a00563cdcab8246bcb74a4372d141ab06a566e0a22d","last_reissued_at":"2026-06-04T01:09:04.683781Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:09:04.683781Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Kim, Hanna Kurniawati, J. Arden Knoll, Lydia E. Kavraki, Wil Thomason, Yuanchu Liang, Zachary Kingston","submitted_at":"2026-06-03T02:14:48Z","abstract_excerpt":"Partially Observable Markov Decision Processes (POMDPs) are a general and principled framework for motion planning under uncertainty. Despite tremendous improvement in the scalability of POMDP solvers, long-horizon POMDPs remain difficult to solve. To alleviate the difficulty, this paper proposes a new approximate online POMDP solver, called Reference-Based Online POMDP Planning via Rapid State Space Sampling (ROP-RAS3). ROP-RAS3 uses novel extremely fast sampling-based motion planning techniques to sample the state space and generate a diverse set of macro actions online, which are then used "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04355","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/2606.04355/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.04355","created_at":"2026-06-04T01:09:04.683850+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.04355v1","created_at":"2026-06-04T01:09:04.683850+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04355","created_at":"2026-06-04T01:09:04.683850+00:00"},{"alias_kind":"pith_short_12","alias_value":"XW2FJKVOO2HO","created_at":"2026-06-04T01:09:04.683850+00:00"},{"alias_kind":"pith_short_16","alias_value":"XW2FJKVOO2HOXF2K","created_at":"2026-06-04T01:09:04.683850+00:00"},{"alias_kind":"pith_short_8","alias_value":"XW2FJKVO","created_at":"2026-06-04T01:09:04.683850+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO","json":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO.json","graph_json":"https://pith.science/api/pith-number/XW2FJKVOO2HOXF2KPIAFMPG4VO/graph.json","events_json":"https://pith.science/api/pith-number/XW2FJKVOO2HOXF2KPIAFMPG4VO/events.json","paper":"https://pith.science/paper/XW2FJKVO"},"agent_actions":{"view_html":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO","download_json":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO.json","view_paper":"https://pith.science/paper/XW2FJKVO","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.04355&json=true","fetch_graph":"https://pith.science/api/pith-number/XW2FJKVOO2HOXF2KPIAFMPG4VO/graph.json","fetch_events":"https://pith.science/api/pith-number/XW2FJKVOO2HOXF2KPIAFMPG4VO/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO/action/storage_attestation","attest_author":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO/action/author_attestation","sign_citation":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO/action/citation_signature","submit_replication":"https://pith.science/pith/XW2FJKVOO2HOXF2KPIAFMPG4VO/action/replication_record"}},"created_at":"2026-06-04T01:09:04.683850+00:00","updated_at":"2026-06-04T01:09:04.683850+00:00"}