{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FSVTUXYOMOF75KZ4QPUKLXJYYT","short_pith_number":"pith:FSVTUXYO","canonical_record":{"source":{"id":"2606.22672","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T21:11:08Z","cross_cats_sorted":[],"title_canon_sha256":"b869dfe4e29e6ac0caf8c973d4c290a04ffcb5467d14ad2b81d5a0f0a8f492eb","abstract_canon_sha256":"c97703c2a44e81213f4bb778b28593c7552cf170ca31dee759852b43471cd611"},"schema_version":"1.0"},"canonical_sha256":"2cab3a5f0e638bfeab3c83e8a5dd38c4e362c38adc06fc6bf041a7b01996f91e","source":{"kind":"arxiv","id":"2606.22672","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.22672","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"arxiv_version","alias_value":"2606.22672v1","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.22672","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_12","alias_value":"FSVTUXYOMOF7","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_16","alias_value":"FSVTUXYOMOF75KZ4","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_8","alias_value":"FSVTUXYO","created_at":"2026-06-23T02:13:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FSVTUXYOMOF75KZ4QPUKLXJYYT","target":"record","payload":{"canonical_record":{"source":{"id":"2606.22672","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T21:11:08Z","cross_cats_sorted":[],"title_canon_sha256":"b869dfe4e29e6ac0caf8c973d4c290a04ffcb5467d14ad2b81d5a0f0a8f492eb","abstract_canon_sha256":"c97703c2a44e81213f4bb778b28593c7552cf170ca31dee759852b43471cd611"},"schema_version":"1.0"},"canonical_sha256":"2cab3a5f0e638bfeab3c83e8a5dd38c4e362c38adc06fc6bf041a7b01996f91e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T02:13:44.442265Z","signature_b64":"3yhTkYvmAjpXtbyUYu7aXWjBtpr/6RD/LV5g2aS+Fl/nHwXMf+UaiOGC7f1LbaFJ7+xZwSGFG6d1+KIWv1i1CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cab3a5f0e638bfeab3c83e8a5dd38c4e362c38adc06fc6bf041a7b01996f91e","last_reissued_at":"2026-06-23T02:13:44.441846Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T02:13:44.441846Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.22672","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":"2026-06-23T02:13:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ydDiD8HDRUFonvw2tr7Z4nBMO8Qw9DCNJSwdZ8DEiL3oPBPZLk6KANV1iuL5dJTI+eI6Byzdx/hgz48bgWKxCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T02:19:12.273622Z"},"content_sha256":"eea82b1534cf8a4471f9804d71cd170ea10cfbfbaa770880b52c2e75c9ec2b3c","schema_version":"1.0","event_id":"sha256:eea82b1534cf8a4471f9804d71cd170ea10cfbfbaa770880b52c2e75c9ec2b3c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FSVTUXYOMOF75KZ4QPUKLXJYYT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient Continuous Semantic Mapping based on Spatio-Temporal Awareness","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinh Trieu Duong, My Le Pham, Thanh Nguyen Canh, Xiem HoangVan","submitted_at":"2026-06-21T21:11:08Z","abstract_excerpt":"Continuous semantic mapping allows autonomous robots to understand both the spatial structure and the semantic content of complex environments. However, most existing methods process the entire space, treat voxels as independent units, and do not keep the semantic labels consistent over time. This leads to high computational cost and reduced robustness in dynamic scenes. This paper proposes a semantic mapping method that brings spatial and temporal relationships into the semantic inference process. The method adjusts the inference range according to the local semantic uncertainty and fuses lab"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.22672","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/2606.22672/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":"2026-06-23T02:13:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ilc2e10oV/VjULwRtMWRwOO59LEiQP45S/yE3FXsKwkX+J1xxoPN4pb7R1A5d6WvQydOPDuv1NQNwSptKPgjDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T02:19:12.273996Z"},"content_sha256":"f9de4df1ea8e3fd2b54c016e748cfec960735abbbfec050db94cedaa1e3b6888","schema_version":"1.0","event_id":"sha256:f9de4df1ea8e3fd2b54c016e748cfec960735abbbfec050db94cedaa1e3b6888"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/bundle.json","state_url":"https://pith.science/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/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":"2026-06-28T02:19:12Z","links":{"resolver":"https://pith.science/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT","bundle":"https://pith.science/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/bundle.json","state":"https://pith.science/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FSVTUXYOMOF75KZ4QPUKLXJYYT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FSVTUXYOMOF75KZ4QPUKLXJYYT","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":"c97703c2a44e81213f4bb778b28593c7552cf170ca31dee759852b43471cd611","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T21:11:08Z","title_canon_sha256":"b869dfe4e29e6ac0caf8c973d4c290a04ffcb5467d14ad2b81d5a0f0a8f492eb"},"schema_version":"1.0","source":{"id":"2606.22672","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.22672","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"arxiv_version","alias_value":"2606.22672v1","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.22672","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_12","alias_value":"FSVTUXYOMOF7","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_16","alias_value":"FSVTUXYOMOF75KZ4","created_at":"2026-06-23T02:13:44Z"},{"alias_kind":"pith_short_8","alias_value":"FSVTUXYO","created_at":"2026-06-23T02:13:44Z"}],"graph_snapshots":[{"event_id":"sha256:f9de4df1ea8e3fd2b54c016e748cfec960735abbbfec050db94cedaa1e3b6888","target":"graph","created_at":"2026-06-23T02:13:44Z","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/2606.22672/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Continuous semantic mapping allows autonomous robots to understand both the spatial structure and the semantic content of complex environments. However, most existing methods process the entire space, treat voxels as independent units, and do not keep the semantic labels consistent over time. This leads to high computational cost and reduced robustness in dynamic scenes. This paper proposes a semantic mapping method that brings spatial and temporal relationships into the semantic inference process. The method adjusts the inference range according to the local semantic uncertainty and fuses lab","authors_text":"Dinh Trieu Duong, My Le Pham, Thanh Nguyen Canh, Xiem HoangVan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T21:11:08Z","title":"Efficient Continuous Semantic Mapping based on Spatio-Temporal Awareness"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.22672","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:eea82b1534cf8a4471f9804d71cd170ea10cfbfbaa770880b52c2e75c9ec2b3c","target":"record","created_at":"2026-06-23T02:13:44Z","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":"c97703c2a44e81213f4bb778b28593c7552cf170ca31dee759852b43471cd611","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-21T21:11:08Z","title_canon_sha256":"b869dfe4e29e6ac0caf8c973d4c290a04ffcb5467d14ad2b81d5a0f0a8f492eb"},"schema_version":"1.0","source":{"id":"2606.22672","kind":"arxiv","version":1}},"canonical_sha256":"2cab3a5f0e638bfeab3c83e8a5dd38c4e362c38adc06fc6bf041a7b01996f91e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cab3a5f0e638bfeab3c83e8a5dd38c4e362c38adc06fc6bf041a7b01996f91e","first_computed_at":"2026-06-23T02:13:44.441846Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T02:13:44.441846Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3yhTkYvmAjpXtbyUYu7aXWjBtpr/6RD/LV5g2aS+Fl/nHwXMf+UaiOGC7f1LbaFJ7+xZwSGFG6d1+KIWv1i1CA==","signature_status":"signed_v1","signed_at":"2026-06-23T02:13:44.442265Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.22672","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eea82b1534cf8a4471f9804d71cd170ea10cfbfbaa770880b52c2e75c9ec2b3c","sha256:f9de4df1ea8e3fd2b54c016e748cfec960735abbbfec050db94cedaa1e3b6888"],"state_sha256":"79f5b3a7979e4146111885ba9cee560e3c34f0cdaf3477649124b490cfecd079"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/wJCIEZSlpCRe4jEsq9N2XAonUkcMF2G2SBvzCqYqjiYwXG5LKR6bdFKYi4BcbnkXtWATvDzRaRSabekHSy6DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T02:19:12.277393Z","bundle_sha256":"f514dacc8d6e607ad771e8a8cd93c7c210e3c0e746608c7a8fc9efe886225637"}}