{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:KRKKYBDRCLYRM2PDVIEBJ4E7YH","short_pith_number":"pith:KRKKYBDR","canonical_record":{"source":{"id":"2605.28330","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-27T11:32:05Z","cross_cats_sorted":[],"title_canon_sha256":"7f2423077b5d8f84b6adcf2926c12ac5b9feb2a3c14d795b084b36379eee5901","abstract_canon_sha256":"31a630138c3de6c08eb53033ef1fbc1f69e25c6000de60ed4a4801dc90aaccd8"},"schema_version":"1.0"},"canonical_sha256":"5454ac047112f11669e3aa0814f09fc1ff1405b8a694cdc6ce8293b1937ef9e5","source":{"kind":"arxiv","id":"2605.28330","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.28330","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"arxiv_version","alias_value":"2605.28330v1","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.28330","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_12","alias_value":"KRKKYBDRCLYR","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_16","alias_value":"KRKKYBDRCLYRM2PD","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_8","alias_value":"KRKKYBDR","created_at":"2026-05-28T01:05:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:KRKKYBDRCLYRM2PDVIEBJ4E7YH","target":"record","payload":{"canonical_record":{"source":{"id":"2605.28330","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-27T11:32:05Z","cross_cats_sorted":[],"title_canon_sha256":"7f2423077b5d8f84b6adcf2926c12ac5b9feb2a3c14d795b084b36379eee5901","abstract_canon_sha256":"31a630138c3de6c08eb53033ef1fbc1f69e25c6000de60ed4a4801dc90aaccd8"},"schema_version":"1.0"},"canonical_sha256":"5454ac047112f11669e3aa0814f09fc1ff1405b8a694cdc6ce8293b1937ef9e5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-28T01:05:13.153690Z","signature_b64":"F3x9ZUvBax9h7Il2Y7CAsFFKI8Z5zOAXf0PVjZFRhHWt7XMOgyZTks3PW1h4aqPlTC3bd+njxwQhMYEzjKCBAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5454ac047112f11669e3aa0814f09fc1ff1405b8a694cdc6ce8293b1937ef9e5","last_reissued_at":"2026-05-28T01:05:13.153218Z","signature_status":"signed_v1","first_computed_at":"2026-05-28T01:05:13.153218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.28330","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":"2026-05-28T01:05:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s1bQNbcy1qgWHbthytWLg0+WXfcYFr92g8ylFBFli7OunJ9CMfFuAkQH8SI0oyduTyLEzT5/QlifaUe+dmMLCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T13:54:09.540802Z"},"content_sha256":"8cf7b1cf30d0d34d1c73c26cdaad10621eb051c299117ebeb262ef3e234f3c22","schema_version":"1.0","event_id":"sha256:8cf7b1cf30d0d34d1c73c26cdaad10621eb051c299117ebeb262ef3e234f3c22"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:KRKKYBDRCLYRM2PDVIEBJ4E7YH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Benjamin Serfling, Kati Radkhah-Lens, Konrad Doll","submitted_at":"2026-05-27T11:32:05Z","abstract_excerpt":"Chance-constrained Model Predictive Path Integral (MPPI) control is increasingly adopted for navigation in dynamic environments to explicitly bound collision risk. However, these probabilistic guarantees implicitly assume that upstream uncertainties from localization and perception are well-calibrated. In practice, estimators are often miscalibrated, inducing characteristic closed-loop failure modes: overconfidence leads to systematic safety violations, while underconfidence triggers overly conservative freezing or probability dilution. To address this critical gap, our primary contribution is"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.28330","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/2605.28330/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":"2026-05-28T01:05:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6aTp5ealA9iEV2Z3UMBsrwvu9F6wXrLSVJ9QVV4s/697QaeeVYH8JhaWCRCUoMQpvYqePxie00s3ucgm/CSeBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T13:54:09.541190Z"},"content_sha256":"a87d8e259f9455eb8d02400790d867d8d3bd331d08ce2231e70d537a82e0654e","schema_version":"1.0","event_id":"sha256:a87d8e259f9455eb8d02400790d867d8d3bd331d08ce2231e70d537a82e0654e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/bundle.json","state_url":"https://pith.science/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/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":"2026-06-28T13:54:09Z","links":{"resolver":"https://pith.science/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH","bundle":"https://pith.science/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/bundle.json","state":"https://pith.science/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KRKKYBDRCLYRM2PDVIEBJ4E7YH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:KRKKYBDRCLYRM2PDVIEBJ4E7YH","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":"31a630138c3de6c08eb53033ef1fbc1f69e25c6000de60ed4a4801dc90aaccd8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-27T11:32:05Z","title_canon_sha256":"7f2423077b5d8f84b6adcf2926c12ac5b9feb2a3c14d795b084b36379eee5901"},"schema_version":"1.0","source":{"id":"2605.28330","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.28330","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"arxiv_version","alias_value":"2605.28330v1","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.28330","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_12","alias_value":"KRKKYBDRCLYR","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_16","alias_value":"KRKKYBDRCLYRM2PD","created_at":"2026-05-28T01:05:13Z"},{"alias_kind":"pith_short_8","alias_value":"KRKKYBDR","created_at":"2026-05-28T01:05:13Z"}],"graph_snapshots":[{"event_id":"sha256:a87d8e259f9455eb8d02400790d867d8d3bd331d08ce2231e70d537a82e0654e","target":"graph","created_at":"2026-05-28T01:05:13Z","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/2605.28330/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Chance-constrained Model Predictive Path Integral (MPPI) control is increasingly adopted for navigation in dynamic environments to explicitly bound collision risk. However, these probabilistic guarantees implicitly assume that upstream uncertainties from localization and perception are well-calibrated. In practice, estimators are often miscalibrated, inducing characteristic closed-loop failure modes: overconfidence leads to systematic safety violations, while underconfidence triggers overly conservative freezing or probability dilution. To address this critical gap, our primary contribution is","authors_text":"Benjamin Serfling, Kati Radkhah-Lens, Konrad Doll","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-27T11:32:05Z","title":"Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.28330","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":"sha256:8cf7b1cf30d0d34d1c73c26cdaad10621eb051c299117ebeb262ef3e234f3c22","target":"record","created_at":"2026-05-28T01:05:13Z","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":"31a630138c3de6c08eb53033ef1fbc1f69e25c6000de60ed4a4801dc90aaccd8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-27T11:32:05Z","title_canon_sha256":"7f2423077b5d8f84b6adcf2926c12ac5b9feb2a3c14d795b084b36379eee5901"},"schema_version":"1.0","source":{"id":"2605.28330","kind":"arxiv","version":1}},"canonical_sha256":"5454ac047112f11669e3aa0814f09fc1ff1405b8a694cdc6ce8293b1937ef9e5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5454ac047112f11669e3aa0814f09fc1ff1405b8a694cdc6ce8293b1937ef9e5","first_computed_at":"2026-05-28T01:05:13.153218Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-28T01:05:13.153218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F3x9ZUvBax9h7Il2Y7CAsFFKI8Z5zOAXf0PVjZFRhHWt7XMOgyZTks3PW1h4aqPlTC3bd+njxwQhMYEzjKCBAQ==","signature_status":"signed_v1","signed_at":"2026-05-28T01:05:13.153690Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.28330","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8cf7b1cf30d0d34d1c73c26cdaad10621eb051c299117ebeb262ef3e234f3c22","sha256:a87d8e259f9455eb8d02400790d867d8d3bd331d08ce2231e70d537a82e0654e"],"state_sha256":"5b65e51d00b5b63319ca52a24a9027dfd6ad1f842ebedfb4d6f42e40599923f1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vvagIvICyFveIaA7I9YgXplikS4r1tnkdydcJ+CTVzcFRBvNJ3SmfLQ+NYLgxIe4MjAJkEZePGOHL1aulvT/BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T13:54:09.543244Z","bundle_sha256":"134fa6fd1dfa98a4a27a86c76b45049fe80dabf11d3eba8a43eddb18d574037f"}}