{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:2P5CXOROBKR5BAUSRWKH32ZGSS","short_pith_number":"pith:2P5CXORO","canonical_record":{"source":{"id":"2607.06337","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T14:34:13Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"1134f35f93af47cab37b6cf34850b4622aed59751d8686a776939a07d4997909","abstract_canon_sha256":"45e79896a357634d624ead19ac911bf41fb2a9f3e94422923d91d0838ebe8bc1"},"schema_version":"1.0"},"canonical_sha256":"d3fa2bba2e0aa3d082928d947deb2694b83d309623f8e248faebff9f2cdc4fb1","source":{"kind":"arxiv","id":"2607.06337","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06337","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06337v1","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06337","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_12","alias_value":"2P5CXOROBKR5","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_16","alias_value":"2P5CXOROBKR5BAUS","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_8","alias_value":"2P5CXORO","created_at":"2026-07-08T01:19:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:2P5CXOROBKR5BAUSRWKH32ZGSS","target":"record","payload":{"canonical_record":{"source":{"id":"2607.06337","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T14:34:13Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"1134f35f93af47cab37b6cf34850b4622aed59751d8686a776939a07d4997909","abstract_canon_sha256":"45e79896a357634d624ead19ac911bf41fb2a9f3e94422923d91d0838ebe8bc1"},"schema_version":"1.0"},"canonical_sha256":"d3fa2bba2e0aa3d082928d947deb2694b83d309623f8e248faebff9f2cdc4fb1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-08T01:19:21.736065Z","signature_b64":"mv54FfXo5uUcXx3+2m+TFlCKAvx4EGamCvIP/8doMonjSuQv9L6DmcKDnAQ5DlE0VXusJV6JuZJ2vwJMByf4BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d3fa2bba2e0aa3d082928d947deb2694b83d309623f8e248faebff9f2cdc4fb1","last_reissued_at":"2026-07-08T01:19:21.735642Z","signature_status":"signed_v1","first_computed_at":"2026-07-08T01:19:21.735642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.06337","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":"2026-07-08T01:19:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DGmQWoXtV3n5z7hVQrXUqDIGi0g3rFRd+EsTq92KwN9hmm9g15lyKRi31hzKMKPQH3U63gnSMh6UtmAzQZ3wAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T01:28:48.066107Z"},"content_sha256":"8296f7cb9ac188f877d3501704e5e398b5847cdb2cc65798ba2bdbd943ed1f88","schema_version":"1.0","event_id":"sha256:8296f7cb9ac188f877d3501704e5e398b5847cdb2cc65798ba2bdbd943ed1f88"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:2P5CXOROBKR5BAUSRWKH32ZGSS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Humphrey Munn","submitted_at":"2026-07-07T14:34:13Z","abstract_excerpt":"Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is available only weeks a year, every tree is different, and a control error can permanently damage the crop or the plant. The tree models used in graphics and agronomy are geometrically detailed but physically inert, while the GPU-parallel simulators used in robot learning contain no plausible trees. We present OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees on the Newton engine. Eac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06337","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/2607.06337/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":"2026-07-08T01:19:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lgUOPul4bUnI7PWexXu5p9G70BMiMdzcXMUXCVriZ/nZ58441rVokiHKj8I3o3iTgaQuvqaFOEcuLUxIh8o7DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T01:28:48.066499Z"},"content_sha256":"1792e2d2b1bf1500ac7e9f682c9b81875462e17b2f0c111a52ba56cdda61b540","schema_version":"1.0","event_id":"sha256:1792e2d2b1bf1500ac7e9f682c9b81875462e17b2f0c111a52ba56cdda61b540"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:2P5CXOROBKR5BAUSRWKH32ZGSS","target":"integrity","payload":{"note":"DOI in the printed bibliography is fragmented by whitespace or line breaks. A longer candidate (10.1109/LRA.2023.3270034.Framework) was visible in the surrounding text but could not be confirmed against doi.org as printed.","snippet":"Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg. Orbit: A unified simulation f","arxiv_id":"2607.06337","detector":"doi_compliance","evidence":{"ref_index":18,"verdict_class":"incontrovertible","resolved_title":null,"printed_excerpt":"Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg. Orbit: A unified simulation f","reconstructed_doi":"10.1109/LRA.2023.3270034.Framework"},"severity":"advisory","ref_index":18,"audited_at":"2026-07-09T07:32:27.751015Z","event_type":"pith.integrity.v1","detected_doi":"10.1109/LRA.2023.3270034.Framework","detector_url":"https://pith.science/pith-integrity-protocol#doi_compliance","external_url":null,"finding_type":"recoverable_identifier","evidence_hash":"34b75cbeda994f28c4afa4d09e8ef7a1f4ccf064feeab6cb241f0e7aa388ea43","paper_version":1,"verdict_class":"incontrovertible","resolved_title":null,"detector_version":"1.0.0","detected_arxiv_id":null,"integrity_event_id":7796,"payload_sha256":"0232949089133009b04f9725756b3f89f4311756c97b6c820d53a771961baf18","signature_b64":"0F/+2Ph+3pofRRvzAF5QqAa+VA0SA/Ac7ReEHH+8rm4bKIHzjHN1NbPpLurfRS76LUNiHaTc2RQh3IHe76r3Cw==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-09T07:37:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MwE7KPN8F3aEX5z4nScw6qBA7LZr/P4jVZdlOH3fmB7rp53XxF/kCy+aWU1Ex+FYOtqjkDNBnMSENR0BPvK3Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T01:28:48.068235Z"},"content_sha256":"eb9a6ddec4f8580c1a39e7034f6bf785e53b001f98244590811faa62e4a7edf8","schema_version":"1.0","event_id":"sha256:eb9a6ddec4f8580c1a39e7034f6bf785e53b001f98244590811faa62e4a7edf8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/bundle.json","state_url":"https://pith.science/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/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":"2026-07-12T01:28:48Z","links":{"resolver":"https://pith.science/pith/2P5CXOROBKR5BAUSRWKH32ZGSS","bundle":"https://pith.science/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/bundle.json","state":"https://pith.science/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2P5CXOROBKR5BAUSRWKH32ZGSS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:2P5CXOROBKR5BAUSRWKH32ZGSS","merge_version":"pith-open-graph-merge-v1","event_count":3,"valid_event_count":3,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"45e79896a357634d624ead19ac911bf41fb2a9f3e94422923d91d0838ebe8bc1","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T14:34:13Z","title_canon_sha256":"1134f35f93af47cab37b6cf34850b4622aed59751d8686a776939a07d4997909"},"schema_version":"1.0","source":{"id":"2607.06337","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06337","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06337v1","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06337","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_12","alias_value":"2P5CXOROBKR5","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_16","alias_value":"2P5CXOROBKR5BAUS","created_at":"2026-07-08T01:19:21Z"},{"alias_kind":"pith_short_8","alias_value":"2P5CXORO","created_at":"2026-07-08T01:19:21Z"}],"graph_snapshots":[{"event_id":"sha256:1792e2d2b1bf1500ac7e9f682c9b81875462e17b2f0c111a52ba56cdda61b540","target":"graph","created_at":"2026-07-08T01:19:21Z","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/2607.06337/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is available only weeks a year, every tree is different, and a control error can permanently damage the crop or the plant. The tree models used in graphics and agronomy are geometrically detailed but physically inert, while the GPU-parallel simulators used in robot learning contain no plausible trees. We present OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees on the Newton engine. Eac","authors_text":"Humphrey Munn","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T14:34:13Z","title":"OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06337","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":"sha256:8296f7cb9ac188f877d3501704e5e398b5847cdb2cc65798ba2bdbd943ed1f88","target":"record","created_at":"2026-07-08T01:19:21Z","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":"45e79896a357634d624ead19ac911bf41fb2a9f3e94422923d91d0838ebe8bc1","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T14:34:13Z","title_canon_sha256":"1134f35f93af47cab37b6cf34850b4622aed59751d8686a776939a07d4997909"},"schema_version":"1.0","source":{"id":"2607.06337","kind":"arxiv","version":1}},"canonical_sha256":"d3fa2bba2e0aa3d082928d947deb2694b83d309623f8e248faebff9f2cdc4fb1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d3fa2bba2e0aa3d082928d947deb2694b83d309623f8e248faebff9f2cdc4fb1","first_computed_at":"2026-07-08T01:19:21.735642Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-08T01:19:21.735642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mv54FfXo5uUcXx3+2m+TFlCKAvx4EGamCvIP/8doMonjSuQv9L6DmcKDnAQ5DlE0VXusJV6JuZJ2vwJMByf4BQ==","signature_status":"signed_v1","signed_at":"2026-07-08T01:19:21.736065Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.06337","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8296f7cb9ac188f877d3501704e5e398b5847cdb2cc65798ba2bdbd943ed1f88","sha256:1792e2d2b1bf1500ac7e9f682c9b81875462e17b2f0c111a52ba56cdda61b540","sha256:eb9a6ddec4f8580c1a39e7034f6bf785e53b001f98244590811faa62e4a7edf8"],"state_sha256":"a5ab2c78c2458380dcef43c421f4d776237d4a4cd8c91f9c75a5fd8141f19d18"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mIILTj7gLKceEw3k9emugz1bsrbz8xcgya6ODvlkKAXkaHbsAp8L85ZkIomxGqsA8PTm0hSECVNKyb4cZOZEDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T01:28:48.069624Z","bundle_sha256":"1c974f871de0fab56cd4344df30c5e2062c27f4570e1ceb0a3fedbf0f52f5a88"}}