{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:5LRRZ4D35FAUCUVQKKMWKE7W6I","short_pith_number":"pith:5LRRZ4D3","canonical_record":{"source":{"id":"1809.11024","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-28T13:45:53Z","cross_cats_sorted":[],"title_canon_sha256":"bdfdd148a4ebe4ad280c8c27a2481f962b064c8071c7f2036ea2fb4d94fd32be","abstract_canon_sha256":"b4eca3ca035e219d34820794fd276ec03c32e7536fdd6446c905ee1d13f90902"},"schema_version":"1.0"},"canonical_sha256":"eae31cf07be9414152b052996513f6f221e048a0075c3b74aa207545217313c4","source":{"kind":"arxiv","id":"1809.11024","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.11024","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"arxiv_version","alias_value":"1809.11024v1","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.11024","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"pith_short_12","alias_value":"5LRRZ4D35FAU","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5LRRZ4D35FAUCUVQ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5LRRZ4D3","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:5LRRZ4D35FAUCUVQKKMWKE7W6I","target":"record","payload":{"canonical_record":{"source":{"id":"1809.11024","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-28T13:45:53Z","cross_cats_sorted":[],"title_canon_sha256":"bdfdd148a4ebe4ad280c8c27a2481f962b064c8071c7f2036ea2fb4d94fd32be","abstract_canon_sha256":"b4eca3ca035e219d34820794fd276ec03c32e7536fdd6446c905ee1d13f90902"},"schema_version":"1.0"},"canonical_sha256":"eae31cf07be9414152b052996513f6f221e048a0075c3b74aa207545217313c4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:04:33.566841Z","signature_b64":"QGbO37ORH+u+IcCyhx/hieZP/H5CqwGdCkbgOAKc16HsfZOi4wweHW7UKhspzb/Jmj8LSrpRgLG+iJzznV9GDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eae31cf07be9414152b052996513f6f221e048a0075c3b74aa207545217313c4","last_reissued_at":"2026-05-18T00:04:33.566193Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:04:33.566193Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.11024","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":"2026-05-18T00:04:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G17tGF3OGVFQISCxDPP8/DXXkKj+6csGyU5h+Qs4bRJ1bKLBWCcP9zRyZZGbVAJSBt9NsoPVHZjMCgW51/MtBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T13:01:53.813188Z"},"content_sha256":"0b14199acbca5903067b683244a5a9dac79e6b1d65a1c2e15d0f031041874fef","schema_version":"1.0","event_id":"sha256:0b14199acbca5903067b683244a5a9dac79e6b1d65a1c2e15d0f031041874fef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:5LRRZ4D35FAUCUVQKKMWKE7W6I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Humanoid TeenSize Open Platform NimbRo-OP","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Julio Pastrana, Marcell Missura, Max Schwarz, Michael Schreiber, Philipp Allgeuer, Sebastian Schueller, Sven Behnke","submitted_at":"2018-09-28T13:45:53Z","abstract_excerpt":"In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. Th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.11024","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":""},"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":"2026-05-18T00:04:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dYryQq9EccVS+wFptRhZYMcRPz0zez2x9SSVNRxdKYDcCJcWqCXEepFFvsvQIXB62i8BXtMR9+ZYmUQmxzuYDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T13:01:53.813542Z"},"content_sha256":"258639de30b452ecca72b393517c10a2918ba82ed087af4090de6eaaf4f5a0c3","schema_version":"1.0","event_id":"sha256:258639de30b452ecca72b393517c10a2918ba82ed087af4090de6eaaf4f5a0c3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/bundle.json","state_url":"https://pith.science/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/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":"2026-06-27T13:01:53Z","links":{"resolver":"https://pith.science/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I","bundle":"https://pith.science/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/bundle.json","state":"https://pith.science/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5LRRZ4D35FAUCUVQKKMWKE7W6I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5LRRZ4D35FAUCUVQKKMWKE7W6I","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":"b4eca3ca035e219d34820794fd276ec03c32e7536fdd6446c905ee1d13f90902","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-28T13:45:53Z","title_canon_sha256":"bdfdd148a4ebe4ad280c8c27a2481f962b064c8071c7f2036ea2fb4d94fd32be"},"schema_version":"1.0","source":{"id":"1809.11024","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.11024","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"arxiv_version","alias_value":"1809.11024v1","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.11024","created_at":"2026-05-18T00:04:33Z"},{"alias_kind":"pith_short_12","alias_value":"5LRRZ4D35FAU","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5LRRZ4D35FAUCUVQ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5LRRZ4D3","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:258639de30b452ecca72b393517c10a2918ba82ed087af4090de6eaaf4f5a0c3","target":"graph","created_at":"2026-05-18T00:04:33Z","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"},"paper":{"abstract_excerpt":"In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. Th","authors_text":"Julio Pastrana, Marcell Missura, Max Schwarz, Michael Schreiber, Philipp Allgeuer, Sebastian Schueller, Sven Behnke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-28T13:45:53Z","title":"Humanoid TeenSize Open Platform NimbRo-OP"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.11024","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":"sha256:0b14199acbca5903067b683244a5a9dac79e6b1d65a1c2e15d0f031041874fef","target":"record","created_at":"2026-05-18T00:04:33Z","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":"b4eca3ca035e219d34820794fd276ec03c32e7536fdd6446c905ee1d13f90902","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-28T13:45:53Z","title_canon_sha256":"bdfdd148a4ebe4ad280c8c27a2481f962b064c8071c7f2036ea2fb4d94fd32be"},"schema_version":"1.0","source":{"id":"1809.11024","kind":"arxiv","version":1}},"canonical_sha256":"eae31cf07be9414152b052996513f6f221e048a0075c3b74aa207545217313c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eae31cf07be9414152b052996513f6f221e048a0075c3b74aa207545217313c4","first_computed_at":"2026-05-18T00:04:33.566193Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:33.566193Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QGbO37ORH+u+IcCyhx/hieZP/H5CqwGdCkbgOAKc16HsfZOi4wweHW7UKhspzb/Jmj8LSrpRgLG+iJzznV9GDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:33.566841Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.11024","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0b14199acbca5903067b683244a5a9dac79e6b1d65a1c2e15d0f031041874fef","sha256:258639de30b452ecca72b393517c10a2918ba82ed087af4090de6eaaf4f5a0c3"],"state_sha256":"db3c1ba680fc444c9ff27dedb1850cfc24ca4d29d70a4df0b203b4050767a477"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O7gl3QqejDH1TFWGJsMz77KGwTKXJ06YuyG5LYDx9Bbhr1yYHRNaVJ4aclkDLLmcxK/FoDmmeMdhyjwEdr/RBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T13:01:53.815459Z","bundle_sha256":"d19f7a09d58e6a1c008ecfabbb0c34b206c53c4cc5dd121b63ee615255894eff"}}