Pith Number

pith:SVKSZ73S

pith:2026:SVKSZ73SCGB2INJG5RK5XO6EV3

not attested not anchored not stored refs resolved

DynoJEPP: Joint Estimation, Prediction and Planning in Dynamic Environments

Ian R. Manchester, Jesse Morris, Mikolaj Kliniewski, Viorela Ila, Yiduo Wang

A directed factor in factor graphs blocks prediction and planning feedback to keep state estimates clean during joint robot navigation.

arxiv:2605.12897 v1 · 2026-05-13 · cs.RO

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\pithnumber{SVKSZ73SCGB2INJG5RK5XO6EV3}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

DynoJEPP introduces a novel directed factor that enforces directional information flow within the factor graph, preventing prediction and planning from corrupting state estimation.

C2weakest assumption

That the directed factor can be formulated and integrated into the factor-graph optimizer such that it blocks unwanted feedback without introducing new instabilities or losing the advantages of joint estimation-prediction-planning.

C3one line summary

DynoJEPP introduces directed factors in factor graphs to jointly optimize estimation, prediction, and planning while preventing feedback corruption that causes unsafe behavior in dynamic environments.

References

32 extracted · 32 resolved · 0 Pith anchors

[1] Simultaneous trajectory estimation and planning via probabilistic inference, 2017

[2] Steap: simultaneous trajectory estimation and planning, 2019

[3] Anytime path planning and replanning in dynamic environments, 2006

[4] Sipp: Safe interval path planning for dynamic environments, 2011

[5] Mobile manipu- lation planning optimized for gpgpu voxel-collision detection in high resolution live 3d-maps, 2014

Receipt and verification

First computed	2026-05-18T03:09:10.829430Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

95552cff721183a43526ec55dbbbc4aedcab0de5cf91b7047bb05a18132ebb16

Aliases

arxiv: 2605.12897 · arxiv_version: 2605.12897v1 · doi: 10.48550/arxiv.2605.12897 · pith_short_12: SVKSZ73SCGB2 · pith_short_16: SVKSZ73SCGB2INJG · pith_short_8: SVKSZ73S

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/SVKSZ73SCGB2INJG5RK5XO6EV3 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 95552cff721183a43526ec55dbbbc4aedcab0de5cf91b7047bb05a18132ebb16

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "465803c5d5ca332a42f1f471ffcbaf7105ca7d5b0033f596414d8d193aa876cf",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T02:18:58Z",
    "title_canon_sha256": "6d0733c1d7f2204d943e9897545447dcd11b58613fc08085856e26c0ef887513"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.12897",
    "kind": "arxiv",
    "version": 1
  }
}