{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:TX7DQXKHCYGBUAYA7XZKJIJENK","short_pith_number":"pith:TX7DQXKH","canonical_record":{"source":{"id":"2509.13177","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-16T15:30:02Z","cross_cats_sorted":[],"title_canon_sha256":"3f7fd66633b203401476b0275e3e4158469be18c97a47da00f640b0e5d72713d","abstract_canon_sha256":"681af2196d6bae21423d43d98dea0eae169176541f5543a47b97972ee75d3588"},"schema_version":"1.0"},"canonical_sha256":"9dfe385d47160c1a0300fdf2a4a1246a9935425d886b76e691eb48acfbcecb08","source":{"kind":"arxiv","id":"2509.13177","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.13177","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"arxiv_version","alias_value":"2509.13177v2","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.13177","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_12","alias_value":"TX7DQXKHCYGB","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_16","alias_value":"TX7DQXKHCYGBUAYA","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_8","alias_value":"TX7DQXKH","created_at":"2026-05-28T02:04:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:TX7DQXKHCYGBUAYA7XZKJIJENK","target":"record","payload":{"canonical_record":{"source":{"id":"2509.13177","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-16T15:30:02Z","cross_cats_sorted":[],"title_canon_sha256":"3f7fd66633b203401476b0275e3e4158469be18c97a47da00f640b0e5d72713d","abstract_canon_sha256":"681af2196d6bae21423d43d98dea0eae169176541f5543a47b97972ee75d3588"},"schema_version":"1.0"},"canonical_sha256":"9dfe385d47160c1a0300fdf2a4a1246a9935425d886b76e691eb48acfbcecb08","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-28T02:04:42.799715Z","signature_b64":"Z9pKUNGEbl3g+Niz9caCTXBerqYk0XUJxflWi5YYJ19LZItnZnUtZwlJZI2/UCxiSGZCtJKyP29m/UTwkVEVDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9dfe385d47160c1a0300fdf2a4a1246a9935425d886b76e691eb48acfbcecb08","last_reissued_at":"2026-05-28T02:04:42.799218Z","signature_status":"signed_v1","first_computed_at":"2026-05-28T02:04:42.799218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.13177","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-28T02:04:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wqwCM4MNFc4Fm48R5MMCVLxMt43H2OIihhlmlMi52YE00YDL3w7aMX2MChcWIeK3kACwZUnUyiDtPHcBonfNDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T08:12:35.478512Z"},"content_sha256":"93ce01832e90f639267a77eb4d9a859fc2913dadf1caaa60e25a7ba712fc3432","schema_version":"1.0","event_id":"sha256:93ce01832e90f639267a77eb4d9a859fc2913dadf1caaa60e25a7ba712fc3432"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:TX7DQXKHCYGBUAYA7XZKJIJENK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ROOM: A Physics-Based Continuum Robot Simulator for Photorealistic Medical Datasets Generation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Rebain, Francis Xiatian Zhang, Kevin Dhaliwal, Mat\\'ias Mattamala, Mohsen Khadem, Salvatore Esposito, Subramanian Ramamoorthy","submitted_at":"2025-09-16T15:30:02Z","abstract_excerpt":"Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is difficult to collect due to ethical constraints and patient safety concerns, and developing autonomy algorithms requires realistic imaging and physical feedback. We present ROOM (Realistic Optical Observation in Medicine), a comprehensive simulation framework designed for generating photorealistic bronchoscopy training data. By leveraging patient CT scans, our pip"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.13177","kind":"arxiv","version":2},"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/2509.13177/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":"2026-05-28T02:04:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xMpwM8KfYblhDZ/krqdBlTl7pVVeYKD/GbKmwDQ/osspzKNIBh+3OoL3Jp5LMCFziNVUGtpY++SoyJ05EhHGBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T08:12:35.479126Z"},"content_sha256":"428b4129f321a4730bd1a81012e510451fa50e8348c6087c90011a5c2e1a6c9c","schema_version":"1.0","event_id":"sha256:428b4129f321a4730bd1a81012e510451fa50e8348c6087c90011a5c2e1a6c9c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/bundle.json","state_url":"https://pith.science/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/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":"2026-06-23T08:12:35Z","links":{"resolver":"https://pith.science/pith/TX7DQXKHCYGBUAYA7XZKJIJENK","bundle":"https://pith.science/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/bundle.json","state":"https://pith.science/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TX7DQXKHCYGBUAYA7XZKJIJENK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TX7DQXKHCYGBUAYA7XZKJIJENK","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":"681af2196d6bae21423d43d98dea0eae169176541f5543a47b97972ee75d3588","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-16T15:30:02Z","title_canon_sha256":"3f7fd66633b203401476b0275e3e4158469be18c97a47da00f640b0e5d72713d"},"schema_version":"1.0","source":{"id":"2509.13177","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.13177","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"arxiv_version","alias_value":"2509.13177v2","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.13177","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_12","alias_value":"TX7DQXKHCYGB","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_16","alias_value":"TX7DQXKHCYGBUAYA","created_at":"2026-05-28T02:04:42Z"},{"alias_kind":"pith_short_8","alias_value":"TX7DQXKH","created_at":"2026-05-28T02:04:42Z"}],"graph_snapshots":[{"event_id":"sha256:428b4129f321a4730bd1a81012e510451fa50e8348c6087c90011a5c2e1a6c9c","target":"graph","created_at":"2026-05-28T02:04:42Z","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/2509.13177/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is difficult to collect due to ethical constraints and patient safety concerns, and developing autonomy algorithms requires realistic imaging and physical feedback. We present ROOM (Realistic Optical Observation in Medicine), a comprehensive simulation framework designed for generating photorealistic bronchoscopy training data. By leveraging patient CT scans, our pip","authors_text":"Daniel Rebain, Francis Xiatian Zhang, Kevin Dhaliwal, Mat\\'ias Mattamala, Mohsen Khadem, Salvatore Esposito, Subramanian Ramamoorthy","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-16T15:30:02Z","title":"ROOM: A Physics-Based Continuum Robot Simulator for Photorealistic Medical Datasets Generation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.13177","kind":"arxiv","version":2},"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":"sha256:93ce01832e90f639267a77eb4d9a859fc2913dadf1caaa60e25a7ba712fc3432","target":"record","created_at":"2026-05-28T02:04:42Z","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":"681af2196d6bae21423d43d98dea0eae169176541f5543a47b97972ee75d3588","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-16T15:30:02Z","title_canon_sha256":"3f7fd66633b203401476b0275e3e4158469be18c97a47da00f640b0e5d72713d"},"schema_version":"1.0","source":{"id":"2509.13177","kind":"arxiv","version":2}},"canonical_sha256":"9dfe385d47160c1a0300fdf2a4a1246a9935425d886b76e691eb48acfbcecb08","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9dfe385d47160c1a0300fdf2a4a1246a9935425d886b76e691eb48acfbcecb08","first_computed_at":"2026-05-28T02:04:42.799218Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-28T02:04:42.799218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Z9pKUNGEbl3g+Niz9caCTXBerqYk0XUJxflWi5YYJ19LZItnZnUtZwlJZI2/UCxiSGZCtJKyP29m/UTwkVEVDQ==","signature_status":"signed_v1","signed_at":"2026-05-28T02:04:42.799715Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.13177","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:93ce01832e90f639267a77eb4d9a859fc2913dadf1caaa60e25a7ba712fc3432","sha256:428b4129f321a4730bd1a81012e510451fa50e8348c6087c90011a5c2e1a6c9c"],"state_sha256":"e2d8c22628dba4a597feb9fdffae907505ffc0501f6dd400a8165b6db456a9e2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HPJPiYoAwMuEoueWZrlman2z6CyFFyiiu+hXs5YfnQz2GwA6BA7sIGatVBG6aQYi4/ucLr1pT09Sc5BKpNa2DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-23T08:12:35.481904Z","bundle_sha256":"4543a749f219dc62383949260f7326e1699a1ddb1ca1f7eee861c5980d3bead5"}}