{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GR22Q4VW4XW6YS3JQ3UOB5WIY5","short_pith_number":"pith:GR22Q4VW","canonical_record":{"source":{"id":"2606.01398","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T18:43:46Z","cross_cats_sorted":[],"title_canon_sha256":"a04e7fc2334431a9d84cf98655f40ff7e3629724bbceb43369b9609e33e9f878","abstract_canon_sha256":"45faa64f7c69c4d62e84dac70c6878517712e3cb15aeaf1f87947c9d8d3b890b"},"schema_version":"1.0"},"canonical_sha256":"3475a872b6e5edec4b6986e8e0f6c8c77e97370ba1315d5f792f8b30384e09d1","source":{"kind":"arxiv","id":"2606.01398","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.01398","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"arxiv_version","alias_value":"2606.01398v1","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.01398","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_12","alias_value":"GR22Q4VW4XW6","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_16","alias_value":"GR22Q4VW4XW6YS3J","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_8","alias_value":"GR22Q4VW","created_at":"2026-06-02T02:04:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GR22Q4VW4XW6YS3JQ3UOB5WIY5","target":"record","payload":{"canonical_record":{"source":{"id":"2606.01398","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T18:43:46Z","cross_cats_sorted":[],"title_canon_sha256":"a04e7fc2334431a9d84cf98655f40ff7e3629724bbceb43369b9609e33e9f878","abstract_canon_sha256":"45faa64f7c69c4d62e84dac70c6878517712e3cb15aeaf1f87947c9d8d3b890b"},"schema_version":"1.0"},"canonical_sha256":"3475a872b6e5edec4b6986e8e0f6c8c77e97370ba1315d5f792f8b30384e09d1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-02T02:04:32.320258Z","signature_b64":"DMAfHqlmWJW/1/2Gv/EqZxoX7BfHY3dkus7qIDfM/U2d8kaOrnDdHlrNgC2uYRj8T3U72E0vMny3USVGVvAGAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3475a872b6e5edec4b6986e8e0f6c8c77e97370ba1315d5f792f8b30384e09d1","last_reissued_at":"2026-06-02T02:04:32.319863Z","signature_status":"signed_v1","first_computed_at":"2026-06-02T02:04:32.319863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.01398","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":"2026-06-02T02:04:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ahfVwEftZvLCb6ghxKmUwbFz6iJSjTFuku6cnHaxoqNLbXOW4SrjrcCarl4iESEgjkC2F82gcht3qrtraC/0DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T11:05:37.267699Z"},"content_sha256":"8bb70fb5fdedb82dda060edab384df22a5329a9b639a6cd1852ef29c8b6224d1","schema_version":"1.0","event_id":"sha256:8bb70fb5fdedb82dda060edab384df22a5329a9b639a6cd1852ef29c8b6224d1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GR22Q4VW4XW6YS3JQ3UOB5WIY5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Sonar-Visual Dataset for Cross-Modal Underwater Robot Perception","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Martin Ludvigsen, Per Gunnar Auran, Peter Halland Haro, Phil Tinn, Weitung Chen","submitted_at":"2026-05-31T18:43:46Z","abstract_excerpt":"Underwater robots typically use both cameras and sonar for perception to leverage the rich semantic details of vision and the robust range measurements of acoustics. However, learning to map between these modalities via cross-modal prediction remains underexplored due to limited sonar-visual paired datasets. We present SOVIS, a sonar-visual dataset for cross-modal underwater perception. SOVIS comprises over 76,000 paired frames collected across 17 dives at six sites in the Trondheimfjord, supported by an end-to-end pipeline that cleans and synchronizes the cross-modal sensor data. We also intr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.01398","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/2606.01398/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":"2026-06-02T02:04:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"skCztaEIPK+3/2ubnBadydETt3T186G4XpfxmYcIH1ZEHhIuhGB400Ar5R3Uh9ps45BZ0/5xgsDrRYAZ48xuAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T11:05:37.268067Z"},"content_sha256":"b8573126da7e9798e377d7199952921a940c5c229a102905f8460e60ae1e49bb","schema_version":"1.0","event_id":"sha256:b8573126da7e9798e377d7199952921a940c5c229a102905f8460e60ae1e49bb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/bundle.json","state_url":"https://pith.science/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/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":"2026-07-02T11:05:37Z","links":{"resolver":"https://pith.science/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5","bundle":"https://pith.science/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/bundle.json","state":"https://pith.science/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GR22Q4VW4XW6YS3JQ3UOB5WIY5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GR22Q4VW4XW6YS3JQ3UOB5WIY5","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":"45faa64f7c69c4d62e84dac70c6878517712e3cb15aeaf1f87947c9d8d3b890b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T18:43:46Z","title_canon_sha256":"a04e7fc2334431a9d84cf98655f40ff7e3629724bbceb43369b9609e33e9f878"},"schema_version":"1.0","source":{"id":"2606.01398","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.01398","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"arxiv_version","alias_value":"2606.01398v1","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.01398","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_12","alias_value":"GR22Q4VW4XW6","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_16","alias_value":"GR22Q4VW4XW6YS3J","created_at":"2026-06-02T02:04:32Z"},{"alias_kind":"pith_short_8","alias_value":"GR22Q4VW","created_at":"2026-06-02T02:04:32Z"}],"graph_snapshots":[{"event_id":"sha256:b8573126da7e9798e377d7199952921a940c5c229a102905f8460e60ae1e49bb","target":"graph","created_at":"2026-06-02T02:04:32Z","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/2606.01398/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Underwater robots typically use both cameras and sonar for perception to leverage the rich semantic details of vision and the robust range measurements of acoustics. However, learning to map between these modalities via cross-modal prediction remains underexplored due to limited sonar-visual paired datasets. We present SOVIS, a sonar-visual dataset for cross-modal underwater perception. SOVIS comprises over 76,000 paired frames collected across 17 dives at six sites in the Trondheimfjord, supported by an end-to-end pipeline that cleans and synchronizes the cross-modal sensor data. We also intr","authors_text":"Martin Ludvigsen, Per Gunnar Auran, Peter Halland Haro, Phil Tinn, Weitung Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T18:43:46Z","title":"A Sonar-Visual Dataset for Cross-Modal Underwater Robot Perception"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.01398","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":"sha256:8bb70fb5fdedb82dda060edab384df22a5329a9b639a6cd1852ef29c8b6224d1","target":"record","created_at":"2026-06-02T02:04:32Z","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":"45faa64f7c69c4d62e84dac70c6878517712e3cb15aeaf1f87947c9d8d3b890b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T18:43:46Z","title_canon_sha256":"a04e7fc2334431a9d84cf98655f40ff7e3629724bbceb43369b9609e33e9f878"},"schema_version":"1.0","source":{"id":"2606.01398","kind":"arxiv","version":1}},"canonical_sha256":"3475a872b6e5edec4b6986e8e0f6c8c77e97370ba1315d5f792f8b30384e09d1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3475a872b6e5edec4b6986e8e0f6c8c77e97370ba1315d5f792f8b30384e09d1","first_computed_at":"2026-06-02T02:04:32.319863Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T02:04:32.319863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DMAfHqlmWJW/1/2Gv/EqZxoX7BfHY3dkus7qIDfM/U2d8kaOrnDdHlrNgC2uYRj8T3U72E0vMny3USVGVvAGAQ==","signature_status":"signed_v1","signed_at":"2026-06-02T02:04:32.320258Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.01398","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8bb70fb5fdedb82dda060edab384df22a5329a9b639a6cd1852ef29c8b6224d1","sha256:b8573126da7e9798e377d7199952921a940c5c229a102905f8460e60ae1e49bb"],"state_sha256":"6af0f8ca39bd3a27eacac55d1bc6756d078b67a8663eacbf088798786c7cfe63"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WhmyIGfOzJLMp2UChYT1v2p6qKABGnANp/FJ3l8Z8sL1TqwDN9FKA/LfL/bFWKyZyjVA5KI8QEmwoR+nep3xDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T11:05:37.269999Z","bundle_sha256":"2ab1e570c87c1a60b6fa2adea61db911fcf09c7259041c863e66b5a4bf444318"}}