{"as_of":"2026-08-16T12:40:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:63d7ebfeceb8378461d8b7d72d486129dc40b0929c77faf36e6fdc03be7562a7","coverage":[{"denominator":0,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":16,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":16,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-16T06:30:59.297886+00:00","state":"measured"},{"denominator":16,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":16,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-16T12:15:43.861939Z","state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"arxiv_reference","source_observed_at":"2026-07-02T08:16:47.731975Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-12T18:42:52.986545Z","title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2411.11323","last_updated":"2024-11-18T06:33:05Z","snapshot_observed_at":"2026-08-16T04:04:32.867082Z","submitted_at":"2024-11-18T06:33:05Z","title":"SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-12T18:42:52.986545Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2411.11323"},"observation_digest":"sha256:9176d4de3d12f39fac436437433d6dbb27375cb2f1578d1dde351744f43cc01c","observation_id":"579cd3d3-13e0-4057-a1b3-14e7e4e8cbeb","resolution":{"observed_at":"2026-08-12T18:42:52.986545Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2501.00112","last_updated":"2026-05-01T18:28:55Z","snapshot_observed_at":"2026-08-15T03:07:02.275230Z","submitted_at":"2024-12-30T19:19:08Z","title":"QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction","version":3},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-05-23T05:56:59.904203Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2501.00112"},"observation_digest":"sha256:ba2cec7da0a5369f1989653dbceffd1e80777ee9b6a44a0d02e6fd95064592da","observation_id":"90e94cb6-88c2-4430-b48c-b0db7020e75d","resolution":{"observed_at":"2026-05-23T05:57:36.702893Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-08T11:54:15.222608Z","title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa sub- terranean challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2502.07703","last_updated":"2025-02-21T10:40:45Z","snapshot_observed_at":"2026-08-12T19:10:23.243481Z","submitted_at":"2025-02-11T17:00:18Z","title":"GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry","version":2},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-08T11:54:15.222608Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2502.07703"},"observation_digest":"sha256:a9fa432ad69f634f30c03d4d64968f6fd461eb826ea60a889b15f09259464a98","observation_id":"41e8ff19-d979-4420-ba98-80b2268ce583","resolution":{"observed_at":"2026-08-08T11:54:15.222608Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-16T12:15:43.861939Z","title":"D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., et al","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2504.13461","last_updated":"2025-04-18T04:38:51Z","snapshot_observed_at":"2026-08-16T12:05:38.251284Z","submitted_at":"2025-04-18T04:38:51Z","title":"An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments","version":1},"reference_index":4,"source":"arxiv_source","source_observed_at":"2026-08-16T12:15:43.861939Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2504.13461"},"observation_digest":"sha256:5b4e620bf5ea1b3297d420b2a09f86255e7881e615f362787ca7734c4e3ce557","observation_id":"f5c9af41-4a75-4417-b7b0-22c673f50354","resolution":{"observed_at":"2026-08-16T12:15:43.861939Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-15T21:44:52.258199Z","title":"Nebula:Questforroboticautonomyinchallenging environments; team costar at the darpa subterranean chal- lenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2505.09108","last_updated":"2025-05-14T03:33:46Z","snapshot_observed_at":"2026-08-16T00:25:27.093222Z","submitted_at":"2025-05-14T03:33:46Z","title":"Air-Ground Collaboration for Language-Specified Missions in Unknown Environments","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-15T21:44:52.258199Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2505.09108"},"observation_digest":"sha256:d2d83545b2ab768025ae74820d68b51f2606aab55f1d5fe31fafef0fd24607f7","observation_id":"db39605a-6af0-4af9-a857-9e63796329fd","resolution":{"observed_at":"2026-08-15T21:44:52.258199Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-07T05:58:45.981472Z","title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2506.06560","last_updated":"2025-06-06T22:15:28Z","snapshot_observed_at":"2026-08-12T01:48:41.235318Z","submitted_at":"2025-06-06T22:15:28Z","title":"Semantics-aware Predictive Inspection Path Planning","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-07T05:58:45.981472Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2506.06560"},"observation_digest":"sha256:96eff57e87b563d20d7b89a2fe5b5e69ec3393538035ec064503fee140e7c818","observation_id":"398990f7-8fbf-4283-8b51-b3c8f115cd1a","resolution":{"observed_at":"2026-08-07T05:58:45.981472Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-06T22:57:02.538556Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2506.20315","last_updated":"2025-06-25T10:53:26Z","snapshot_observed_at":"2026-08-15T17:54:08.617994Z","submitted_at":"2025-06-25T10:53:26Z","title":"Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead","version":1},"reference_index":45,"source":"pdf_text","source_observed_at":"2026-08-06T22:57:02.538556Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2506.20315"},"observation_digest":"sha256:befbb7321361907f94db78e4c116bbaa88c6a927e52bbc0427a052a305937c26","observation_id":"f16f9981-4311-4c39-a876-f20637d508ba","resolution":{"observed_at":"2026-08-06T22:57:02.538556Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-05T20:31:32.841579Z","title":null,"venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2508.10399","last_updated":"2025-08-14T06:56:16Z","snapshot_observed_at":"2026-08-15T15:38:07.042671Z","submitted_at":"2025-08-14T06:56:16Z","title":"Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-05T20:31:32.841579Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2508.10399"},"observation_digest":"sha256:8f339bb8ae30edc9bc1cc120e41fa4c25ef56525de23666e7a65327e19b4a9b1","observation_id":"874e5de7-f95c-4cb9-8593-f602f6505713","resolution":{"observed_at":"2026-08-05T20:31:32.841579Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-03T21:56:45.642961Z","title":"(2021) Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2511.13216","last_updated":"2026-06-27T04:41:58Z","snapshot_observed_at":"2026-08-15T11:22:55.946905Z","submitted_at":"2025-11-17T10:29:31Z","title":"GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry","version":2},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-03T21:56:45.642961Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2511.13216"},"observation_digest":"sha256:fb1dc0cddc0bb889eb1bba4dde4bbafae5453b351d68394420b26a7dc7d2b138","observation_id":"de9c8f56-5c6c-480e-bf8f-fde547c9995c","resolution":{"observed_at":"2026-08-03T21:56:45.642961Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2601.20529","last_updated":"2026-05-19T15:08:26Z","snapshot_observed_at":"2026-08-02T18:49:19.261134Z","submitted_at":"2026-01-28T12:10:56Z","title":"A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests","version":3},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-05-21T15:14:57.342619Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2601.20529"},"observation_digest":"sha256:f9fbcdba29e7af58d6cf39c13ffa9e823477ddb818db0b9d1afcc665459149bc","observation_id":"71bf8f34-7f4c-467c-9d04-38be3964ea28","resolution":{"observed_at":"2026-05-21T15:15:16.638167Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-03T06:23:22.649059Z","title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2601.23038","last_updated":"2026-07-06T11:16:05Z","snapshot_observed_at":"2026-08-16T04:59:12.721852Z","submitted_at":"2026-01-30T14:46:15Z","title":"MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams","version":3},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-03T06:23:22.649059Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2601.23038"},"observation_digest":"sha256:731b413a9912f03c95a768692710dd91413a971add0f5a2066e7124b9e300ee7","observation_id":"1364ef58-391d-4c9f-88d5-33a3da8a6572","resolution":{"observed_at":"2026-08-03T06:23:22.649059Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2602.07924","last_updated":"2026-04-15T06:31:08Z","snapshot_observed_at":"2026-08-16T05:01:04.919365Z","submitted_at":"2026-02-08T11:46:40Z","title":"Optimized Human-Robot Co-Dispatch Planning for Petro-Site Surveillance under Varying Criticalities","version":2},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-05-16T06:24:24.658251Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2602.07924"},"observation_digest":"sha256:6a37cf8f43091c55f58cfcfe7cf4f45346fcda127bf6536eb45e9dca5c3dbe4f","observation_id":"c8cc4d23-11ff-40cc-b15a-e68d5c9689d9","resolution":{"observed_at":"2026-05-16T06:27:27.995973Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2604.26504","last_updated":"2026-04-29T10:08:48Z","snapshot_observed_at":"2026-08-12T00:41:58.528590Z","submitted_at":"2026-04-29T10:08:48Z","title":"HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-05-07T11:01:11.508343Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2604.26504"},"observation_digest":"sha256:6b299dcfd9359d6d1e44cf2d027e42e20d2011b42ab0cb7f4126fdac3bf0b2be","observation_id":"795d0834-c709-43e9-a618-7a746ed0ec06","resolution":{"observed_at":"2026-05-12T09:26:25.686727Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2605.12735","last_updated":"2026-05-12T20:39:35Z","snapshot_observed_at":"2026-08-10T21:36:20.977450Z","submitted_at":"2026-05-12T20:39:35Z","title":"The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy","version":1},"reference_index":257,"source":"arxiv_source","source_observed_at":"2026-05-14T19:42:39.831386Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2605.12735"},"observation_digest":"sha256:b43ea08256041372e956cdb9c5ec238933bc043ac2f66f409f9f2f1ef62c9c0e","observation_id":"dfbcc3d3-a085-4d3f-88b6-d509560bea85","resolution":{"observed_at":"2026-05-14T19:42:53.477787Z","resolver_source":"arxiv_id","status":"metadata_mismatch"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":"2103.11470","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-07-02T08:16:47.731975Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","venue":null,"work_id":"16c2c238-91c2-426a-a2e9-6daf80e95041","year":2021},"citing_paper":{"arxiv_id":"2606.04818","last_updated":"2026-06-03T12:40:56Z","snapshot_observed_at":"2026-08-15T21:44:36.689839Z","submitted_at":"2026-06-03T12:40:56Z","title":"Real-World Deployment of a 5G-Connected Edge-Controlled Aerial Robot in Industrial Subterranean Mines","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-06-28T06:16:11.385033Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2606.04818"},"observation_digest":"sha256:225bdb377b0f7198930cd40d1b7ff607a390412919dae59bcb6c472d01d3348e","observation_id":"4db05f24-17b9-4fb2-ad2d-2883c2c9ef0f","resolution":{"observed_at":"2026-07-02T08:16:47.733642Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2103.11470","snapshot_observed_at":"2026-08-01T15:13:05.020128Z","title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.18527","last_updated":"2026-07-20T21:39:25Z","snapshot_observed_at":"2026-08-16T04:59:15.243601Z","submitted_at":"2026-07-20T21:39:25Z","title":"DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-01T15:13:05.020128Z"},"links":{"cited_paper":"/paper/2103.11470","citing_paper":"/paper/2607.18527"},"observation_digest":"sha256:9accd06b4d15f91247bbf53df6d167edbfcdc74849fa4e9fd69d88a3bcfe4b0d","observation_id":"f02506a2-ade6-4e27-b553-94f5453dd56a","resolution":{"observed_at":"2026-08-01T15:13:05.020128Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"links":{"evidence":"/evidence","html":"/paper/2103.11470/citation-record","integrity":"/paper/2103.11470/integrity","json":"/paper/2103.11470/citation-record.json","paper":"/paper/2103.11470"},"outbound":[],"paper":{"arxiv_id":"2103.11470","last_updated":"2021-10-18T17:50:47Z","latest_version":4,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-15T17:54:37.175382Z","submitted_at":"2021-03-21T19:42:26Z","title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge"},"reference_resolution":{"displayed":0,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":0,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":0},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-16T06:30:59.297886+00:00","source":"crossref"},{"observed_at":"2026-08-16T06:30:54.164669+00:00","source":"retraction_watch"}],"thesis":"As of 16 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 16 inbound Pith citation observations for arXiv:2103.11470."}