{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:FT5367SN7PPTMMTZ5OJFRTYWZK","short_pith_number":"pith:FT5367SN","canonical_record":{"source":{"id":"2101.06894","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-18T06:17:52Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a7955433fe5db367f4c572671797ee387f90a587fabf36b0daf2f97ad6276281","abstract_canon_sha256":"dc7e460832c39d642b315a67704a7589153d1cd74c713e7c13e5adbb479de16b"},"schema_version":"1.0"},"canonical_sha256":"2cfbbf7e4dfbdf363279eb9258cf16caa026b274c087686bf501bb045ba6e723","source":{"kind":"arxiv","id":"2101.06894","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.06894","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"arxiv_version","alias_value":"2101.06894v3","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.06894","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_12","alias_value":"FT5367SN7PPT","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_16","alias_value":"FT5367SN7PPTMMTZ","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_8","alias_value":"FT5367SN","created_at":"2026-07-05T03:24:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:FT5367SN7PPTMMTZ5OJFRTYWZK","target":"record","payload":{"canonical_record":{"source":{"id":"2101.06894","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-18T06:17:52Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a7955433fe5db367f4c572671797ee387f90a587fabf36b0daf2f97ad6276281","abstract_canon_sha256":"dc7e460832c39d642b315a67704a7589153d1cd74c713e7c13e5adbb479de16b"},"schema_version":"1.0"},"canonical_sha256":"2cfbbf7e4dfbdf363279eb9258cf16caa026b274c087686bf501bb045ba6e723","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:24:08.301917Z","signature_b64":"FTPFq7hPQ4uWtauXnrvc8uitM1812HGGxhk6UFEiIDFf3f7dlpLNp3vpJ497hOZi0C6I6Xado1r4WAk/okCqCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cfbbf7e4dfbdf363279eb9258cf16caa026b274c087686bf501bb045ba6e723","last_reissued_at":"2026-07-05T03:24:08.301403Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:24:08.301403Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2101.06894","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:24:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nVU5MYD88is6VnWO/9RXkdFNpFHckEbl3owkbMTg6fpoKnI9SCjzZ85jypi7uH9HZNfDT7tMBtO1WGxL1xcaCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:41:24.102846Z"},"content_sha256":"b31c64a47dc93ef7eea057cd0057b8dacab0fb77fe337c047b461d97d109cdb1","schema_version":"1.0","event_id":"sha256:b31c64a47dc93ef7eea057cd0057b8dacab0fb77fe337c047b461d97d109cdb1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:FT5367SN7PPTMMTZ5OJFRTYWZK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Andrew Violette, Antoni Rosinol, Arjun Gupta, Jingnan Shi, Luca Carlone, Marcus Abate, Nathan Hughes, Yun Chang","submitted_at":"2021-01-18T06:17:52Z","abstract_excerpt":"Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e.g., objects, rooms, buildings), includes static and dynamic entities and their relations (e.g., a person is in a room at a given time). In contrast, current robots' internal representations still provide a partial and fragmented understanding of the environment, either in the form of a sparse or dense set of geometric primitives (e.g., points, lines, planes, voxels) or as a collect"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.06894","kind":"arxiv","version":3},"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/2101.06894/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":"2026-07-05T03:24:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JwPZruVmQerL2WdCWYwaQPYt379MF8dip1OwtjPhuAHCRg/6dtCVejVuVJo2jaXjkD7Vg/EfZ+zdD8MgY1N9Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:41:24.103226Z"},"content_sha256":"8298397ecc761b4059eda0d48e85c0a00753594e5ea5e89be6607c2955b435e2","schema_version":"1.0","event_id":"sha256:8298397ecc761b4059eda0d48e85c0a00753594e5ea5e89be6607c2955b435e2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/bundle.json","state_url":"https://pith.science/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/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":"2026-07-07T08:41:24Z","links":{"resolver":"https://pith.science/pith/FT5367SN7PPTMMTZ5OJFRTYWZK","bundle":"https://pith.science/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/bundle.json","state":"https://pith.science/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FT5367SN7PPTMMTZ5OJFRTYWZK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:FT5367SN7PPTMMTZ5OJFRTYWZK","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":"dc7e460832c39d642b315a67704a7589153d1cd74c713e7c13e5adbb479de16b","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-18T06:17:52Z","title_canon_sha256":"a7955433fe5db367f4c572671797ee387f90a587fabf36b0daf2f97ad6276281"},"schema_version":"1.0","source":{"id":"2101.06894","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.06894","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"arxiv_version","alias_value":"2101.06894v3","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.06894","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_12","alias_value":"FT5367SN7PPT","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_16","alias_value":"FT5367SN7PPTMMTZ","created_at":"2026-07-05T03:24:08Z"},{"alias_kind":"pith_short_8","alias_value":"FT5367SN","created_at":"2026-07-05T03:24:08Z"}],"graph_snapshots":[{"event_id":"sha256:8298397ecc761b4059eda0d48e85c0a00753594e5ea5e89be6607c2955b435e2","target":"graph","created_at":"2026-07-05T03:24:08Z","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/2101.06894/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e.g., objects, rooms, buildings), includes static and dynamic entities and their relations (e.g., a person is in a room at a given time). In contrast, current robots' internal representations still provide a partial and fragmented understanding of the environment, either in the form of a sparse or dense set of geometric primitives (e.g., points, lines, planes, voxels) or as a collect","authors_text":"Andrew Violette, Antoni Rosinol, Arjun Gupta, Jingnan Shi, Luca Carlone, Marcus Abate, Nathan Hughes, Yun Chang","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-18T06:17:52Z","title":"Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.06894","kind":"arxiv","version":3},"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:b31c64a47dc93ef7eea057cd0057b8dacab0fb77fe337c047b461d97d109cdb1","target":"record","created_at":"2026-07-05T03:24:08Z","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":"dc7e460832c39d642b315a67704a7589153d1cd74c713e7c13e5adbb479de16b","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-18T06:17:52Z","title_canon_sha256":"a7955433fe5db367f4c572671797ee387f90a587fabf36b0daf2f97ad6276281"},"schema_version":"1.0","source":{"id":"2101.06894","kind":"arxiv","version":3}},"canonical_sha256":"2cfbbf7e4dfbdf363279eb9258cf16caa026b274c087686bf501bb045ba6e723","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cfbbf7e4dfbdf363279eb9258cf16caa026b274c087686bf501bb045ba6e723","first_computed_at":"2026-07-05T03:24:08.301403Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:24:08.301403Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FTPFq7hPQ4uWtauXnrvc8uitM1812HGGxhk6UFEiIDFf3f7dlpLNp3vpJ497hOZi0C6I6Xado1r4WAk/okCqCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:24:08.301917Z","signed_message":"canonical_sha256_bytes"},"source_id":"2101.06894","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b31c64a47dc93ef7eea057cd0057b8dacab0fb77fe337c047b461d97d109cdb1","sha256:8298397ecc761b4059eda0d48e85c0a00753594e5ea5e89be6607c2955b435e2"],"state_sha256":"4123bbddb95e98c325bbe7166b837da7ca2230ca2ed5afed054983349ff9e790"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o322NYQrWEzm5/Bfb3Z3mYYcpRHMwP+B51xuajmtsgj6ACvxTXAnXe54EYg563UM5/3yqMtJ3tPywKSuAU0lBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T08:41:24.105054Z","bundle_sha256":"80210029fa85553387bf8ad8f29e2e1b61a57d974835a7ceee79a1c435974841"}}