{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:YR76L7E4FETHLVK7KPCEC3XXVK","short_pith_number":"pith:YR76L7E4","canonical_record":{"source":{"id":"2607.00156","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T20:31:23Z","cross_cats_sorted":[],"title_canon_sha256":"91c5296c6747a12d9fa4ed51817a3d2e093f2af002c9af33f655569a9b70dce5","abstract_canon_sha256":"8337203fdc4c0a4009351dadc94d4d8feaf664237732dd4b035c7b4ab74e3031"},"schema_version":"1.0"},"canonical_sha256":"c47fe5fc9c292675d55f53c4416ef7aa8edca5a214ee0471b68d310117e02e15","source":{"kind":"arxiv","id":"2607.00156","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00156","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00156v1","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00156","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_12","alias_value":"YR76L7E4FETH","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_16","alias_value":"YR76L7E4FETHLVK7","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_8","alias_value":"YR76L7E4","created_at":"2026-07-02T00:18:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:YR76L7E4FETHLVK7KPCEC3XXVK","target":"record","payload":{"canonical_record":{"source":{"id":"2607.00156","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T20:31:23Z","cross_cats_sorted":[],"title_canon_sha256":"91c5296c6747a12d9fa4ed51817a3d2e093f2af002c9af33f655569a9b70dce5","abstract_canon_sha256":"8337203fdc4c0a4009351dadc94d4d8feaf664237732dd4b035c7b4ab74e3031"},"schema_version":"1.0"},"canonical_sha256":"c47fe5fc9c292675d55f53c4416ef7aa8edca5a214ee0471b68d310117e02e15","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-02T00:18:36.940777Z","signature_b64":"leG/PWgZtOlpXthKuY+2Sy9f23n0ra06EZhONb+3q74b/HR54t2Qf+rGScEjeZfxYaNZ74muZjdDKwISOT9MAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c47fe5fc9c292675d55f53c4416ef7aa8edca5a214ee0471b68d310117e02e15","last_reissued_at":"2026-07-02T00:18:36.940269Z","signature_status":"signed_v1","first_computed_at":"2026-07-02T00:18:36.940269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.00156","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":"2026-07-02T00:18:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rtVwiN3Ff75G+TXwcYY17rXUXhue4qPnSelydoAIbR8PAPYm/ZElbV4Qk291Yr8+oq9zNtYZZR14dpUCn6EzAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T10:15:30.062295Z"},"content_sha256":"adb257cba7bcf9781cf916da0f0552d49fd17581f6b608d2e77386ee25bdc161","schema_version":"1.0","event_id":"sha256:adb257cba7bcf9781cf916da0f0552d49fd17581f6b608d2e77386ee25bdc161"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:YR76L7E4FETHLVK7KPCEC3XXVK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gioele Zardini, Jiarui Li, Meshal Alharbi, Willem van Osselaer","submitted_at":"2026-06-30T20:31:23Z","abstract_excerpt":"Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation detail. Standard best-first selection is strong for minimizing expanded nodes and closing the optimality certificate, yet it can maintain a large frontier, interrupt parent-child expansion sequences, and provide no feasible incumbent until termination. This paper studies node selection as a first-class design choice for exact CBS. We introduce Dual-Informed Vertical Expansion (DIVE), a policy that is best-bound between"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00156","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/2607.00156/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":"2026-07-02T00:18:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CzEEUIT0P9EzOob9/0jyxqXLmhK4Jyiu3izi70CEjXrhKaqr9G/bsQJn15z0AFkVZ1ondmIfEoFvCSPpFRxABQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T10:15:30.062686Z"},"content_sha256":"ea70b60e425c80ad52b80b19de765dbc805655171f213ea148c49917893d26e1","schema_version":"1.0","event_id":"sha256:ea70b60e425c80ad52b80b19de765dbc805655171f213ea148c49917893d26e1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YR76L7E4FETHLVK7KPCEC3XXVK/bundle.json","state_url":"https://pith.science/pith/YR76L7E4FETHLVK7KPCEC3XXVK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YR76L7E4FETHLVK7KPCEC3XXVK/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":"2026-07-04T10:15:30Z","links":{"resolver":"https://pith.science/pith/YR76L7E4FETHLVK7KPCEC3XXVK","bundle":"https://pith.science/pith/YR76L7E4FETHLVK7KPCEC3XXVK/bundle.json","state":"https://pith.science/pith/YR76L7E4FETHLVK7KPCEC3XXVK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YR76L7E4FETHLVK7KPCEC3XXVK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:YR76L7E4FETHLVK7KPCEC3XXVK","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":"8337203fdc4c0a4009351dadc94d4d8feaf664237732dd4b035c7b4ab74e3031","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T20:31:23Z","title_canon_sha256":"91c5296c6747a12d9fa4ed51817a3d2e093f2af002c9af33f655569a9b70dce5"},"schema_version":"1.0","source":{"id":"2607.00156","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00156","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00156v1","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00156","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_12","alias_value":"YR76L7E4FETH","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_16","alias_value":"YR76L7E4FETHLVK7","created_at":"2026-07-02T00:18:36Z"},{"alias_kind":"pith_short_8","alias_value":"YR76L7E4","created_at":"2026-07-02T00:18:36Z"}],"graph_snapshots":[{"event_id":"sha256:ea70b60e425c80ad52b80b19de765dbc805655171f213ea148c49917893d26e1","target":"graph","created_at":"2026-07-02T00:18:36Z","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/2607.00156/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation detail. Standard best-first selection is strong for minimizing expanded nodes and closing the optimality certificate, yet it can maintain a large frontier, interrupt parent-child expansion sequences, and provide no feasible incumbent until termination. This paper studies node selection as a first-class design choice for exact CBS. We introduce Dual-Informed Vertical Expansion (DIVE), a policy that is best-bound between","authors_text":"Gioele Zardini, Jiarui Li, Meshal Alharbi, Willem van Osselaer","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T20:31:23Z","title":"Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00156","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:adb257cba7bcf9781cf916da0f0552d49fd17581f6b608d2e77386ee25bdc161","target":"record","created_at":"2026-07-02T00:18:36Z","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":"8337203fdc4c0a4009351dadc94d4d8feaf664237732dd4b035c7b4ab74e3031","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T20:31:23Z","title_canon_sha256":"91c5296c6747a12d9fa4ed51817a3d2e093f2af002c9af33f655569a9b70dce5"},"schema_version":"1.0","source":{"id":"2607.00156","kind":"arxiv","version":1}},"canonical_sha256":"c47fe5fc9c292675d55f53c4416ef7aa8edca5a214ee0471b68d310117e02e15","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c47fe5fc9c292675d55f53c4416ef7aa8edca5a214ee0471b68d310117e02e15","first_computed_at":"2026-07-02T00:18:36.940269Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-02T00:18:36.940269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"leG/PWgZtOlpXthKuY+2Sy9f23n0ra06EZhONb+3q74b/HR54t2Qf+rGScEjeZfxYaNZ74muZjdDKwISOT9MAQ==","signature_status":"signed_v1","signed_at":"2026-07-02T00:18:36.940777Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.00156","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:adb257cba7bcf9781cf916da0f0552d49fd17581f6b608d2e77386ee25bdc161","sha256:ea70b60e425c80ad52b80b19de765dbc805655171f213ea148c49917893d26e1"],"state_sha256":"dad159c709433ec18a65e523c3b12f1a6ec4f9c521245dde2057dce5a4c4d621"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5+U+cH3VkWNcZTR9aeUtJnP+Z3XyrCyIy6aO2HD7N0tp0YqsQZzPAMt7/FE7vt0c7zsnI8JxBkS2ZbfBi9Z0DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-04T10:15:30.064745Z","bundle_sha256":"e48b0edcc1cb5ad68351a1fe14fa231a60e4df826910e30bd91c062a4e45eb58"}}