{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:4VMY33X2QLRB6S6IPKR6HAY3RD","short_pith_number":"pith:4VMY33X2","canonical_record":{"source":{"id":"2607.00026","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T08:11:39Z","cross_cats_sorted":[],"title_canon_sha256":"a56281f85c28bb76543f0a4935b286788d2eb3303f811171db5a85856b6591bd","abstract_canon_sha256":"cd697334892ee883efe407d78559e7f18d7724b3c637334e313d2773f3ae49da"},"schema_version":"1.0"},"canonical_sha256":"e5598deefa82e21f4bc87aa3e3831b88ce90cc705ce5bacc62bdc7db9d9f9bfe","source":{"kind":"arxiv","id":"2607.00026","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00026","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00026v1","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00026","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_12","alias_value":"4VMY33X2QLRB","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_16","alias_value":"4VMY33X2QLRB6S6I","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_8","alias_value":"4VMY33X2","created_at":"2026-07-02T00:18:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:4VMY33X2QLRB6S6IPKR6HAY3RD","target":"record","payload":{"canonical_record":{"source":{"id":"2607.00026","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T08:11:39Z","cross_cats_sorted":[],"title_canon_sha256":"a56281f85c28bb76543f0a4935b286788d2eb3303f811171db5a85856b6591bd","abstract_canon_sha256":"cd697334892ee883efe407d78559e7f18d7724b3c637334e313d2773f3ae49da"},"schema_version":"1.0"},"canonical_sha256":"e5598deefa82e21f4bc87aa3e3831b88ce90cc705ce5bacc62bdc7db9d9f9bfe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-02T00:18:31.661876Z","signature_b64":"/2YURWFz1RaNe2Hx3v9HOrpQIGg5rxZBBMcYpU8h1oOA/ONvVAwBPIzL3dlXa1wcoICfVMnqJgQB1Cr0K6lkDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5598deefa82e21f4bc87aa3e3831b88ce90cc705ce5bacc62bdc7db9d9f9bfe","last_reissued_at":"2026-07-02T00:18:31.661266Z","signature_status":"signed_v1","first_computed_at":"2026-07-02T00:18:31.661266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.00026","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":"2026-07-02T00:18:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"28nb2yEMt7Sa7tKvC8fPuqWGU9TGwmBtaDeDpiDljybrtsuwJzXH+J3Z3Hgzqr59keS6eauAWHEsfx9Pz/iZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T08:37:06.018110Z"},"content_sha256":"2138109d3dd57f01f2995d42298020cc4c6f6364d84c3c23a466ef48d4b77a62","schema_version":"1.0","event_id":"sha256:2138109d3dd57f01f2995d42298020cc4c6f6364d84c3c23a466ef48d4b77a62"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:4VMY33X2QLRB6S6IPKR6HAY3RD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"J. Mattila, S. Yaqubi","submitted_at":"2026-06-21T08:11:39Z","abstract_excerpt":"An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie group SE(3). The group-affine property of the kinematic equations makes the linearised error dynamics autonomous, so the Riccati equation governs the true error covariance rather than a local approximation. A physically separated noise model treats gyroscope and accelerometer channels independently: the accelerometer provides translational twist via gravity-compensated integration, yielding a measurement covariance that "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00026","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/2607.00026/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":"2026-07-02T00:18:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GzD7dED9x6GmZLv55Hx2N6QsAN0o2O2jmwPKombTnZLPWX0NcRX48G4GZQStb78UGpEVgYh1t3tqKAl+Lb47Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T08:37:06.018494Z"},"content_sha256":"d327fbbddce3f550c0192166c91d3d4657cfc7e56c258ccf2be09330b01b8bbb","schema_version":"1.0","event_id":"sha256:d327fbbddce3f550c0192166c91d3d4657cfc7e56c258ccf2be09330b01b8bbb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/bundle.json","state_url":"https://pith.science/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/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":"2026-07-03T08:37:06Z","links":{"resolver":"https://pith.science/pith/4VMY33X2QLRB6S6IPKR6HAY3RD","bundle":"https://pith.science/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/bundle.json","state":"https://pith.science/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4VMY33X2QLRB6S6IPKR6HAY3RD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:4VMY33X2QLRB6S6IPKR6HAY3RD","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":"cd697334892ee883efe407d78559e7f18d7724b3c637334e313d2773f3ae49da","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T08:11:39Z","title_canon_sha256":"a56281f85c28bb76543f0a4935b286788d2eb3303f811171db5a85856b6591bd"},"schema_version":"1.0","source":{"id":"2607.00026","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00026","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00026v1","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00026","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_12","alias_value":"4VMY33X2QLRB","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_16","alias_value":"4VMY33X2QLRB6S6I","created_at":"2026-07-02T00:18:31Z"},{"alias_kind":"pith_short_8","alias_value":"4VMY33X2","created_at":"2026-07-02T00:18:31Z"}],"graph_snapshots":[{"event_id":"sha256:d327fbbddce3f550c0192166c91d3d4657cfc7e56c258ccf2be09330b01b8bbb","target":"graph","created_at":"2026-07-02T00:18:31Z","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/2607.00026/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie group SE(3). The group-affine property of the kinematic equations makes the linearised error dynamics autonomous, so the Riccati equation governs the true error covariance rather than a local approximation. A physically separated noise model treats gyroscope and accelerometer channels independently: the accelerometer provides translational twist via gravity-compensated integration, yielding a measurement covariance that ","authors_text":"J. Mattila, S. Yaqubi","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T08:11:39Z","title":"Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00026","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":"sha256:2138109d3dd57f01f2995d42298020cc4c6f6364d84c3c23a466ef48d4b77a62","target":"record","created_at":"2026-07-02T00:18:31Z","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":"cd697334892ee883efe407d78559e7f18d7724b3c637334e313d2773f3ae49da","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T08:11:39Z","title_canon_sha256":"a56281f85c28bb76543f0a4935b286788d2eb3303f811171db5a85856b6591bd"},"schema_version":"1.0","source":{"id":"2607.00026","kind":"arxiv","version":1}},"canonical_sha256":"e5598deefa82e21f4bc87aa3e3831b88ce90cc705ce5bacc62bdc7db9d9f9bfe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e5598deefa82e21f4bc87aa3e3831b88ce90cc705ce5bacc62bdc7db9d9f9bfe","first_computed_at":"2026-07-02T00:18:31.661266Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-02T00:18:31.661266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/2YURWFz1RaNe2Hx3v9HOrpQIGg5rxZBBMcYpU8h1oOA/ONvVAwBPIzL3dlXa1wcoICfVMnqJgQB1Cr0K6lkDg==","signature_status":"signed_v1","signed_at":"2026-07-02T00:18:31.661876Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.00026","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2138109d3dd57f01f2995d42298020cc4c6f6364d84c3c23a466ef48d4b77a62","sha256:d327fbbddce3f550c0192166c91d3d4657cfc7e56c258ccf2be09330b01b8bbb"],"state_sha256":"8e01db98a9a94b2c0277107f89310a2fff6c756a1ee8dccc1eff6dd193be7ef5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+2pY7nkxkieLtoLtfXHs8o2DcauOxoAl8BW4F2RMd6bZDeZn5I4JE8IW/pMR6sZl3OWWqLevJkOlL5yBfaGRCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T08:37:06.020568Z","bundle_sha256":"faeedd8d291d2feb9b717cd33e89fa1c5da9418322b7f4301878263ef6ca4069"}}