{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:YKWOS2I3VKEBCWOQNW5YFMQXQ7","short_pith_number":"pith:YKWOS2I3","canonical_record":{"source":{"id":"2605.30647","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T23:04:37Z","cross_cats_sorted":[],"title_canon_sha256":"fb2879bb3cc4ac03c2d1938933b401c94b221ecb926532f00d4e1b60d6cee9b0","abstract_canon_sha256":"b3c1b7311cd6e8c90ffa04d31fab4ddd037f9ae5a3cd49c9a7049334ecbb8fa0"},"schema_version":"1.0"},"canonical_sha256":"c2ace9691baa881159d06dbb82b21787e12ded1317418a3b9336d0058cb89f0b","source":{"kind":"arxiv","id":"2605.30647","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30647","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30647v1","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30647","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_12","alias_value":"YKWOS2I3VKEB","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_16","alias_value":"YKWOS2I3VKEBCWOQ","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_8","alias_value":"YKWOS2I3","created_at":"2026-06-01T01:03:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:YKWOS2I3VKEBCWOQNW5YFMQXQ7","target":"record","payload":{"canonical_record":{"source":{"id":"2605.30647","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T23:04:37Z","cross_cats_sorted":[],"title_canon_sha256":"fb2879bb3cc4ac03c2d1938933b401c94b221ecb926532f00d4e1b60d6cee9b0","abstract_canon_sha256":"b3c1b7311cd6e8c90ffa04d31fab4ddd037f9ae5a3cd49c9a7049334ecbb8fa0"},"schema_version":"1.0"},"canonical_sha256":"c2ace9691baa881159d06dbb82b21787e12ded1317418a3b9336d0058cb89f0b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-01T01:03:06.087300Z","signature_b64":"/T7VYDf9IfDR4SU1BNciXcn882JFbli/2iRX4Uk+xPyRQKuR7HP97yg90BEKvbqhI++c+XYkez4kP4A8UW5hBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c2ace9691baa881159d06dbb82b21787e12ded1317418a3b9336d0058cb89f0b","last_reissued_at":"2026-06-01T01:03:06.086377Z","signature_status":"signed_v1","first_computed_at":"2026-06-01T01:03:06.086377Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.30647","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":"2026-06-01T01:03:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"poqjcR51mgbkjzirY0cCaXpZEo707bP3vyxqYmTgzd0u9lYE5qOqyvST7wkua567Klf1XmOQ/1RMd2oC8WiFAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T01:28:54.875807Z"},"content_sha256":"5df4df07183fc5e7723167b1af6b1a09ea2b48ccc452cd87a82490b4824cac20","schema_version":"1.0","event_id":"sha256:5df4df07183fc5e7723167b1af6b1a09ea2b48ccc452cd87a82490b4824cac20"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:YKWOS2I3VKEBCWOQNW5YFMQXQ7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bidirectional Incremental Generalized Hybrid A*","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Oren Salzman, Siddhartha Srinivasa, Sidharth Talia","submitted_at":"2026-05-28T23:04:37Z","abstract_excerpt":"We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make precomputing motion primitives infeasible. Directly applying A* to such problems is computationally infeasible due to the curse of dimensionality. Methods such as Hybrid A* addressed this burden by discretizing the state space, but in turn creating a coupling between tree discovery and the discretization resolution. The Incremental Generalized Hybrid A* (IGHA*) performs search over a hierarchy of resolutions in an anytime fashion to break this coupling, by "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30647","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/2605.30647/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":"2026-06-01T01:03:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0ETl7vKiyvbiyMo4Yg9wDIYRk3uFaCrLWpZTXkLHbnRsPsYv0wwGbZ0hHvNCe2Il/QZaFH3Kv2zJjpGRXMdiBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T01:28:54.876405Z"},"content_sha256":"f27b4c97f284f835ff620bc9d34f91f387d491d71b6224983229635ff01a80ac","schema_version":"1.0","event_id":"sha256:f27b4c97f284f835ff620bc9d34f91f387d491d71b6224983229635ff01a80ac"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/bundle.json","state_url":"https://pith.science/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/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":"2026-06-05T01:28:54Z","links":{"resolver":"https://pith.science/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7","bundle":"https://pith.science/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/bundle.json","state":"https://pith.science/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YKWOS2I3VKEBCWOQNW5YFMQXQ7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:YKWOS2I3VKEBCWOQNW5YFMQXQ7","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":"b3c1b7311cd6e8c90ffa04d31fab4ddd037f9ae5a3cd49c9a7049334ecbb8fa0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T23:04:37Z","title_canon_sha256":"fb2879bb3cc4ac03c2d1938933b401c94b221ecb926532f00d4e1b60d6cee9b0"},"schema_version":"1.0","source":{"id":"2605.30647","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30647","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30647v1","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30647","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_12","alias_value":"YKWOS2I3VKEB","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_16","alias_value":"YKWOS2I3VKEBCWOQ","created_at":"2026-06-01T01:03:06Z"},{"alias_kind":"pith_short_8","alias_value":"YKWOS2I3","created_at":"2026-06-01T01:03:06Z"}],"graph_snapshots":[{"event_id":"sha256:f27b4c97f284f835ff620bc9d34f91f387d491d71b6224983229635ff01a80ac","target":"graph","created_at":"2026-06-01T01:03:06Z","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/2605.30647/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make precomputing motion primitives infeasible. Directly applying A* to such problems is computationally infeasible due to the curse of dimensionality. Methods such as Hybrid A* addressed this burden by discretizing the state space, but in turn creating a coupling between tree discovery and the discretization resolution. The Incremental Generalized Hybrid A* (IGHA*) performs search over a hierarchy of resolutions in an anytime fashion to break this coupling, by ","authors_text":"Oren Salzman, Siddhartha Srinivasa, Sidharth Talia","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T23:04:37Z","title":"Bidirectional Incremental Generalized Hybrid A*"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30647","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":"sha256:5df4df07183fc5e7723167b1af6b1a09ea2b48ccc452cd87a82490b4824cac20","target":"record","created_at":"2026-06-01T01:03:06Z","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":"b3c1b7311cd6e8c90ffa04d31fab4ddd037f9ae5a3cd49c9a7049334ecbb8fa0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T23:04:37Z","title_canon_sha256":"fb2879bb3cc4ac03c2d1938933b401c94b221ecb926532f00d4e1b60d6cee9b0"},"schema_version":"1.0","source":{"id":"2605.30647","kind":"arxiv","version":1}},"canonical_sha256":"c2ace9691baa881159d06dbb82b21787e12ded1317418a3b9336d0058cb89f0b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2ace9691baa881159d06dbb82b21787e12ded1317418a3b9336d0058cb89f0b","first_computed_at":"2026-06-01T01:03:06.086377Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:03:06.086377Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/T7VYDf9IfDR4SU1BNciXcn882JFbli/2iRX4Uk+xPyRQKuR7HP97yg90BEKvbqhI++c+XYkez4kP4A8UW5hBQ==","signature_status":"signed_v1","signed_at":"2026-06-01T01:03:06.087300Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.30647","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5df4df07183fc5e7723167b1af6b1a09ea2b48ccc452cd87a82490b4824cac20","sha256:f27b4c97f284f835ff620bc9d34f91f387d491d71b6224983229635ff01a80ac"],"state_sha256":"005c5f90a5e5cf4ddbbf7f6bb42ec6092f3e3984019ef934d90e7a5b3d3bc07b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q2HNJm5WN89HmkOAMyL8eazOomAF1csmKj2GAUO8/v8uDCtf83xqS4QN1ZoFSob85phSP3JUSyJ+Fa+TsOuNDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T01:28:54.879636Z","bundle_sha256":"0fbb35f9e7c9a4c1f37b12fe7605cdfa49367349f741e803f6e6aea531422305"}}