{"as_of":"2026-08-09T22:51:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:248f5c48e9e95b4873569864b0eac864a8de31378b618c23d6eeb08924d914cf","coverage":[{"denominator":28,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":28,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-04T11:35:53.078578Z","state":"measured"},{"denominator":29,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":29,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-09T06:31:02.800959+00:00","state":"measured"},{"denominator":1,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":1,"source":"paper_references, paper_reference_links","source_observed_at":"2026-05-08T19:02:57.828234Z","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":"2026-05-09T06:05:34.564193Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"cited_work":{"arxiv_id":"2510.04100","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2510.04100","snapshot_observed_at":"2026-07-10T01:18:55.795567Z","title":"Topo-bench: An open-source topological mapping eval- uation framework with quantifiable perceptual aliasing","venue":null,"work_id":"834f793e-1ee2-4c40-9db8-d0507db7239c","year":2025},"citing_paper":{"arxiv_id":"2605.02227","last_updated":"2026-05-04T05:00:12Z","snapshot_observed_at":"2026-07-06T23:15:23.301944Z","submitted_at":"2026-05-04T05:00:12Z","title":"Change-Robust Online Spatial-Semantic Topological Mapping","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-05-08T19:02:57.828234Z"},"links":{"cited_paper":"/paper/2510.04100","citing_paper":"/paper/2605.02227"},"observation_digest":"sha256:70e3bea264b0fa716999600357d83931fd7483901051f3d4d6cec63ae5a6de00","observation_id":"22b7f2be-774c-4751-85d8-4dfb312863a2","resolution":{"observed_at":"2026-07-10T01:18:55.795567Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-09T06:31:02.800959+00:00","source":"crossref"},{"observed_at":"2026-08-09T06:30:57.326959+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2510.04100/citation-record","integrity":"/paper/2510.04100/integrity","json":"/paper/2510.04100/citation-record.json","paper":"/paper/2510.04100"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.076737Z","title":"Ge- nie: A generalizable navigation system for in-the-wild environments,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.076737Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:be47c0157fcf2abd881481f2d5a880254e5b73c55f0328449b4b42cea681bc35","observation_id":"145de4b5-fd10-46a3-920b-b8cd65f1f780","resolution":{"observed_at":"2026-08-04T11:35:50.076737Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.117745Z","title":"Nomad: Goal masked diffusion policies for navigation and exploration,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.117745Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:463f3c80653940cc51560ab6cc65088dde7a9df2726f81592abfe266d457298f","observation_id":"fc9b5f84-dcd2-4d23-8ba8-2d99ada4bd60","resolution":{"observed_at":"2026-08-04T11:35:50.117745Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.276458Z","title":"Intelligence without representation,","venue":null,"work_id":null,"year":1991},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.276458Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:fa8067d206289efcc7c47db5894f2fc67d26f2d6281b64b93bc6c64896e4d4e0","observation_id":"3359d462-e4a9-47c3-bb76-b19192dab8df","resolution":{"observed_at":"2026-08-04T11:35:50.276458Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.332001Z","title":"Topological simultane- ous localization and mapping: a survey,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.332001Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:d850bb4af8de9874a4b30f292082d9c0fa15a3ee441ecdc12fa7d94a17d45662","observation_id":"8dff2198-fde4-427e-9dbc-7c6e076a894c","resolution":{"observed_at":"2026-08-04T11:35:50.332001Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.392338Z","title":"Mapping a suburb with a single camera using a biologically inspired slam system,","venue":null,"work_id":null,"year":2008},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.392338Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:8ae205c79f82a67647869d257d68378f2179f1951c26237d0875a4708a086f75","observation_id":"8e9eeaf9-5c16-42ec-a0fe-1f006380f2d7","resolution":{"observed_at":"2026-08-04T11:35:50.392338Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.540156Z","title":"Highly scalable appearance-only slam- fab-map 2.0,","venue":null,"work_id":null,"year":2009},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.540156Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:5624d59f5a39e3031f1c29233bbef4bfd37f5e6d0e970d3bb9ce1604135c60d4","observation_id":"c25ffbc4-a898-4e4f-98d0-1deae4955767","resolution":{"observed_at":"2026-08-04T11:35:50.540156Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"1803.00653","last_updated":"2018-03-01T22:50:35Z","snapshot_observed_at":"2026-07-06T06:26:13.397923Z","submitted_at":"2018-03-01T22:50:35Z","title":"Semi-parametric Topological Memory for Navigation","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"1803.00653","snapshot_observed_at":"2026-08-04T11:35:50.665911Z","title":"Semi-parametric topolog- ical memory for navigation,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.665911Z"},"links":{"cited_paper":"/paper/1803.00653","citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:8078eb0946c974ac55562b7a41b770b06abf5b1840509e25649fa30c6fa78415","observation_id":"98d94fd3-5f94-4cf0-8a44-879e7944e307","resolution":{"observed_at":"2026-08-04T11:35:50.665911Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.804937Z","title":"Fab- map+ ratslam: Appearance-based slam for multiple times of day,","venue":null,"work_id":null,"year":2010},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.804937Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:ab2b5948a48da6f816126d861f3647f824d485f05793e6dd58fba446db371249","observation_id":"4a0f7ea2-7e6b-48ba-a136-48accd7d65e5","resolution":{"observed_at":"2026-08-04T11:35:50.804937Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:50.926021Z","title":"Cat-slam: probabilistic local- isation and mapping using a continuous appearance-based trajectory,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:50.926021Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:dd48ae92dbbcf864823e0b1c9ee4e59097ba5d6be63f82f2a2180aaf4d63445a","observation_id":"63501002-926f-430a-897f-86b330291dae","resolution":{"observed_at":"2026-08-04T11:35:50.926021Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.066630Z","title":"Probabilistic visual place recognition for hierarchical localization,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.066630Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:3123eceeac3884fdb28e729e736f3bb400ccf6e99986e8284246bd7ce741793a","observation_id":"94222afb-b600-46b0-9187-8c97b6c26ad0","resolution":{"observed_at":"2026-08-04T11:35:51.066630Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.162551Z","title":"Placenav: Topological navigation through place recognition,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.162551Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:34a1fb58aaf76b14dbac107712de5f7aaac5231bba3373925af037ba7b54cd14","observation_id":"7e7b14b6-19ee-4a54-9d3e-0f4f41ab926d","resolution":{"observed_at":"2026-08-04T11:35:51.162551Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.349397Z","title":"Boq: A place is worth a bag of learnable queries,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.349397Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:c4187fd54138e1fb0f87d0d5ddc8ec05362d781dd24edef8e1880f16c6495c03","observation_id":"daeb3f96-87f7-4cfa-b1b4-2500d66c6cda","resolution":{"observed_at":"2026-08-04T11:35:51.349397Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.531103Z","title":"Scaling local control to large-scale topological navigation,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.531103Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:71fb2bdf9127a40409eac6ca8875f373952d478c80023963b705df2838f71b5e","observation_id":"5f423286-769e-4b35-aced-7f7d55e647b8","resolution":{"observed_at":"2026-08-04T11:35:51.531103Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.636867Z","title":"Topomap: Topological mapping and navigation based on visual slam maps,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.636867Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:5ffeb36285aa9ffb615988cf1426aa9e51890381fccf6d2a4a6dfac7913ec5f1","observation_id":"311aa9fc-6f7a-474d-80e7-a5fc575c1d72","resolution":{"observed_at":"2026-08-04T11:35:51.636867Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.747044Z","title":"Sparse 3d topo- logical graphs for micro-aerial vehicle planning,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.747044Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:24578626c1bb5c036a7d9f110ceb40eba28e310e8b7c2e047f9041315c39b61f","observation_id":"9154f681-93a9-4e66-9879-18d15aea41f2","resolution":{"observed_at":"2026-08-04T11:35:51.747044Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.785386Z","title":"Navigation in hybrid metric–topological maps,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.785386Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:f624f81785d0bd6c25308ca2143b946b88009ba567470d951f7bb2fa37614587","observation_id":"e77f7e66-48f1-4084-9e05-a35aa226d8fa","resolution":{"observed_at":"2026-08-04T11:35:51.785386Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:51.867805Z","title":"V oronoi random fields: Ex- tracting the topological structure of indoor environments via place labeling,","venue":null,"work_id":null,"year":2007},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:51.867805Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:8c5af38ebb2dc773037e54d8a8b33f225ee09db39e6f83429837ee40d9e1638f","observation_id":"d062344c-8938-47a6-9b26-d159c19819ff","resolution":{"observed_at":"2026-08-04T11:35:51.867805Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.028124Z","title":"Towards autonomous topo- logical place detection using the extended voronoi graph,","venue":null,"work_id":null,"year":2005},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.028124Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:f9d3466db8a247d2629b6f33cca58c52f5daec8c0a349ac69d8230d9566a0499","observation_id":"ff372604-e211-4f25-b92d-d4b4b3619efd","resolution":{"observed_at":"2026-08-04T11:35:52.028124Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.170597Z","title":"Are we ready for service robots? the OpenLORIS-Scene datasets for lifelong SLAM,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.170597Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:9c9cfb31fd0b46cf6f10fd0cb8a361c0ad8b7ca4fb77e5efe3ac9820b13daaa2","observation_id":"609034e3-d5c1-4a8a-a1b2-3998b5e50ebb","resolution":{"observed_at":"2026-08-04T11:35:52.170597Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.333013Z","title":"1 Year, 1000km: The Oxford RobotCar Dataset,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.333013Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:77a16018732930e6f50fdd359224c961663c6baaba56e963e8fed59eb5b265b1","observation_id":"82ebd4d8-5a8a-4a0f-bb8a-2838a1734078","resolution":{"observed_at":"2026-08-04T11:35:52.333013Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2011.12954","last_updated":"2022-05-25T15:11:10Z","snapshot_observed_at":"2026-08-08T15:27:04.554298Z","submitted_at":"2020-11-17T18:28:01Z","title":"RELLIS-3D Dataset: Data, Benchmarks and Analysis","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2011.12954","snapshot_observed_at":"2026-08-04T11:35:52.423113Z","title":"Rellis-3d dataset: Data, benchmarks and analysis,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.423113Z"},"links":{"cited_paper":"/paper/2011.12954","citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:93e4ea921bdc2b98868c9a27b5e51b7ef67102575feb5f790f003514ac6449b1","observation_id":"15bdd563-f3f2-4bea-969f-61cf74758ff9","resolution":{"observed_at":"2026-08-04T11:35:52.423113Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.513772Z","title":"Visual place recognition: A survey,","venue":null,"work_id":null,"year":2015},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.513772Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:7cec6d1a1661307fe222794138ea34723386437cd74e6657a11fd5bb15dcdddd","observation_id":"92ff9ca3-cc65-43de-85cc-366222e447cd","resolution":{"observed_at":"2026-08-04T11:35:52.513772Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.605029Z","title":"Eigenplaces: Training viewpoint robust models for visual place recognition,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.605029Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:b4a90069136635192c9985262b6dbb244a0b49d3069a240bb490303984aa93ee","observation_id":"17353b5a-a5cd-43f5-a233-2bfd977a7d4c","resolution":{"observed_at":"2026-08-04T11:35:52.605029Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.694755Z","title":"Rawseeds: Building a benchmarking toolkit for autonomous robotics,","venue":null,"work_id":null,"year":2013},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.694755Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:42716d56542fa1301ea9a7c739f4cf1e9401019862868b72de20c70fd4adab72","observation_id":"e5bdddee-fb50-47c7-8335-fd03644d800c","resolution":{"observed_at":"2026-08-04T11:35:52.694755Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.781242Z","title":"Habitat: A Platform for Embodied AI Research,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.781242Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:cf2385402a021a26cb61acfc7a52c461b36a0ca45478962317deec90504b853f","observation_id":"f379c32a-00bf-4e4b-a77f-0cfbbd6b6e9e","resolution":{"observed_at":"2026-08-04T11:35:52.781242Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.873300Z","title":"Rover: A multiseason dataset for visual slam,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.873300Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:52e3ada35f272b6e549d315b59a0d55b0c30f31cc6278f70a673db300297da7c","observation_id":"dc544d70-ce1d-4499-83d8-734fe1cc5fe6","resolution":{"observed_at":"2026-08-04T11:35:52.873300Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:52.968265Z","title":"Seqslam: Visual route-based naviga- tion for sunny summer days and stormy winter nights,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:52.968265Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:9efe58936250868ff10738922f5eba6bfacedf6a30415988c07a56588560705d","observation_id":"1f65b525-c9e7-415c-9b82-b3b96396e3cc","resolution":{"observed_at":"2026-08-04T11:35:52.968265Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T11:35:53.078578Z","title":"Megaloc: One retrieval to place them all,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing","version":2},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-04T11:35:53.078578Z"},"links":{"citing_paper":"/paper/2510.04100"},"observation_digest":"sha256:6f1382e97475c14a0a2e8afed2bf9cf3d749005a286e9bd0feb1d294e3e8448c","observation_id":"b0234a7c-3500-4a4a-b2fb-a4209e2f6b8e","resolution":{"observed_at":"2026-08-04T11:35:53.078578Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2510.04100","last_updated":"2026-07-09T02:53:59Z","latest_version":2,"primary_category":"cs.CV","snapshot_observed_at":"2026-08-09T20:29:51.446211Z","submitted_at":"2025-10-05T08:58:08Z","title":"TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing"},"reference_resolution":{"displayed":28,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":28,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":28},"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":"2026-08-09T06:31:02.800959+00:00","source":"crossref"},{"observed_at":"2026-08-09T06:30:57.326959+00:00","source":"retraction_watch"}],"thesis":"As of 9 August 2026, this Paper Citation Record lists 28 of 28 outbound references and 1 inbound Pith citation observation for arXiv:2510.04100."}