{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:ZWIOBATVK4DXJOHKNJONGUZYDC","short_pith_number":"pith:ZWIOBATV","schema_version":"1.0","canonical_sha256":"cd90e08275570774b8ea6a5cd3533818a64a1941df2fcdfffdcebcd72eceec33","source":{"kind":"arxiv","id":"2606.16057","version":2},"attestation_state":"computed","paper":{"title":"A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SP","eess.SY"],"primary_cat":"cs.RO","authors_text":"Eric Levy, Soosan Beheshti","submitted_at":"2026-06-14T23:13:56Z","abstract_excerpt":"Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By"},"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":"2606.16057","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-14T23:13:56Z","cross_cats_sorted":["cs.SY","eess.SP","eess.SY"],"title_canon_sha256":"c043e461f12d58f1d59c985c19ddb6efd3aa9caee98c1404c6ab927560d2c97e","abstract_canon_sha256":"9edc219860c04dbdd0220acd73aa6b62605c9651d6bfe869e959c73b1a884125"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:56.360385Z","signature_b64":"5ZYCHJkj7iS9uZBpp3gtJoYDbPvFASXghBgaf0UnP5ZuQ3JTRMPlAIAjcKpt+bwyZejdltMqEPtZEb4ndEkxBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cd90e08275570774b8ea6a5cd3533818a64a1941df2fcdfffdcebcd72eceec33","last_reissued_at":"2026-06-19T16:12:56.359966Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:56.359966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SP","eess.SY"],"primary_cat":"cs.RO","authors_text":"Eric Levy, Soosan Beheshti","submitted_at":"2026-06-14T23:13:56Z","abstract_excerpt":"Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.16057","kind":"arxiv","version":2},"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/2606.16057/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":"2606.16057","created_at":"2026-06-19T16:12:56.360031+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.16057v2","created_at":"2026-06-19T16:12:56.360031+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.16057","created_at":"2026-06-19T16:12:56.360031+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZWIOBATVK4DX","created_at":"2026-06-19T16:12:56.360031+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZWIOBATVK4DXJOHK","created_at":"2026-06-19T16:12:56.360031+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZWIOBATV","created_at":"2026-06-19T16:12:56.360031+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/ZWIOBATVK4DXJOHKNJONGUZYDC","json":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC.json","graph_json":"https://pith.science/api/pith-number/ZWIOBATVK4DXJOHKNJONGUZYDC/graph.json","events_json":"https://pith.science/api/pith-number/ZWIOBATVK4DXJOHKNJONGUZYDC/events.json","paper":"https://pith.science/paper/ZWIOBATV"},"agent_actions":{"view_html":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC","download_json":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC.json","view_paper":"https://pith.science/paper/ZWIOBATV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.16057&json=true","fetch_graph":"https://pith.science/api/pith-number/ZWIOBATVK4DXJOHKNJONGUZYDC/graph.json","fetch_events":"https://pith.science/api/pith-number/ZWIOBATVK4DXJOHKNJONGUZYDC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC/action/storage_attestation","attest_author":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC/action/author_attestation","sign_citation":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC/action/citation_signature","submit_replication":"https://pith.science/pith/ZWIOBATVK4DXJOHKNJONGUZYDC/action/replication_record"}},"created_at":"2026-06-19T16:12:56.360031+00:00","updated_at":"2026-06-19T16:12:56.360031+00:00"}