{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:2YKQON5B6EEU7BVDJIKVY66DT3","short_pith_number":"pith:2YKQON5B","canonical_record":{"source":{"id":"2507.21338","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-28T21:07:18Z","cross_cats_sorted":[],"title_canon_sha256":"cc3932b9c4ea4679b0d8735d415e51d1ef774245c3907c7b7526ea213c717718","abstract_canon_sha256":"b7fa0b39eabca26cb2f8c1ada2f7a1caa3fe780d7416d043928a53906e4b1f69"},"schema_version":"1.0"},"canonical_sha256":"d6150737a1f1094f86a34a155c7bc39eca0baf3e2334b79dd41d12a557042506","source":{"kind":"arxiv","id":"2507.21338","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.21338","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"arxiv_version","alias_value":"2507.21338v1","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.21338","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_12","alias_value":"2YKQON5B6EEU","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_16","alias_value":"2YKQON5B6EEU7BVD","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_8","alias_value":"2YKQON5B","created_at":"2026-07-05T11:44:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:2YKQON5B6EEU7BVDJIKVY66DT3","target":"record","payload":{"canonical_record":{"source":{"id":"2507.21338","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-28T21:07:18Z","cross_cats_sorted":[],"title_canon_sha256":"cc3932b9c4ea4679b0d8735d415e51d1ef774245c3907c7b7526ea213c717718","abstract_canon_sha256":"b7fa0b39eabca26cb2f8c1ada2f7a1caa3fe780d7416d043928a53906e4b1f69"},"schema_version":"1.0"},"canonical_sha256":"d6150737a1f1094f86a34a155c7bc39eca0baf3e2334b79dd41d12a557042506","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:44:57.983476Z","signature_b64":"ISR4SDUW8pJl5qUWm6WtVB4Ar7IP3euUgUp/WBtB/kMKzbEjob045/nfimLnAxiCZbeEelEe/dOQzt/WDpt7BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d6150737a1f1094f86a34a155c7bc39eca0baf3e2334b79dd41d12a557042506","last_reissued_at":"2026-07-05T11:44:57.983116Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:44:57.983116Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.21338","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":"2026-07-05T11:44:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JAhDySATlL0WLItkme9EPgaz06xO/Sq9Y69RDsgDK3ZrCW7AEzrGVQKuDaTalKkmIBBE7filwtIs11B1pUyQAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T20:58:21.415273Z"},"content_sha256":"8489bf97f284f6e2447416c2f0c65735e874666fb2cfd4672bc55f07fb2d4514","schema_version":"1.0","event_id":"sha256:8489bf97f284f6e2447416c2f0c65735e874666fb2cfd4672bc55f07fb2d4514"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:2YKQON5B6EEU7BVDJIKVY66DT3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chao Xu, Fei Gao, Ruibin Zhang, Tiancheng Lai, Yanjun Cao, Yuman Gao","submitted_at":"2025-07-28T21:07:18Z","abstract_excerpt":"Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in practical exploration tasks, we present a hierarchical framework for the bimodal vehicle to utilize its flexible locomotion modalities for exploration. Beginning with extracting environmental information to identify informative regions, we generate a set of potential bimodal viewpoints. To adaptively manage energy and time constraints, we introduce an extended M"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.21338","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/2507.21338/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":"2026-07-05T11:44:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UvcVrtwmQUTp85HPYju10XR/Km7varvNcOrMai00ebQB9a1dGjNZaa7JvlnjFWxZ9D7AO2VWKvE0WxtFCHJ2Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T20:58:21.415815Z"},"content_sha256":"1ae1e71e91720eb4c09f258fc705396ed121d7a292dd8fb7d3c7e24c84776584","schema_version":"1.0","event_id":"sha256:1ae1e71e91720eb4c09f258fc705396ed121d7a292dd8fb7d3c7e24c84776584"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2YKQON5B6EEU7BVDJIKVY66DT3/bundle.json","state_url":"https://pith.science/pith/2YKQON5B6EEU7BVDJIKVY66DT3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2YKQON5B6EEU7BVDJIKVY66DT3/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":"2026-08-16T20:58:21Z","links":{"resolver":"https://pith.science/pith/2YKQON5B6EEU7BVDJIKVY66DT3","bundle":"https://pith.science/pith/2YKQON5B6EEU7BVDJIKVY66DT3/bundle.json","state":"https://pith.science/pith/2YKQON5B6EEU7BVDJIKVY66DT3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2YKQON5B6EEU7BVDJIKVY66DT3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:2YKQON5B6EEU7BVDJIKVY66DT3","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":"b7fa0b39eabca26cb2f8c1ada2f7a1caa3fe780d7416d043928a53906e4b1f69","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-28T21:07:18Z","title_canon_sha256":"cc3932b9c4ea4679b0d8735d415e51d1ef774245c3907c7b7526ea213c717718"},"schema_version":"1.0","source":{"id":"2507.21338","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.21338","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"arxiv_version","alias_value":"2507.21338v1","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.21338","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_12","alias_value":"2YKQON5B6EEU","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_16","alias_value":"2YKQON5B6EEU7BVD","created_at":"2026-07-05T11:44:57Z"},{"alias_kind":"pith_short_8","alias_value":"2YKQON5B","created_at":"2026-07-05T11:44:57Z"}],"graph_snapshots":[{"event_id":"sha256:1ae1e71e91720eb4c09f258fc705396ed121d7a292dd8fb7d3c7e24c84776584","target":"graph","created_at":"2026-07-05T11:44:57Z","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/2507.21338/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in practical exploration tasks, we present a hierarchical framework for the bimodal vehicle to utilize its flexible locomotion modalities for exploration. Beginning with extracting environmental information to identify informative regions, we generate a set of potential bimodal viewpoints. To adaptively manage energy and time constraints, we introduce an extended M","authors_text":"Chao Xu, Fei Gao, Ruibin Zhang, Tiancheng Lai, Yanjun Cao, Yuman Gao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-28T21:07:18Z","title":"Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.21338","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":"sha256:8489bf97f284f6e2447416c2f0c65735e874666fb2cfd4672bc55f07fb2d4514","target":"record","created_at":"2026-07-05T11:44:57Z","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":"b7fa0b39eabca26cb2f8c1ada2f7a1caa3fe780d7416d043928a53906e4b1f69","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-28T21:07:18Z","title_canon_sha256":"cc3932b9c4ea4679b0d8735d415e51d1ef774245c3907c7b7526ea213c717718"},"schema_version":"1.0","source":{"id":"2507.21338","kind":"arxiv","version":1}},"canonical_sha256":"d6150737a1f1094f86a34a155c7bc39eca0baf3e2334b79dd41d12a557042506","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d6150737a1f1094f86a34a155c7bc39eca0baf3e2334b79dd41d12a557042506","first_computed_at":"2026-07-05T11:44:57.983116Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:44:57.983116Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ISR4SDUW8pJl5qUWm6WtVB4Ar7IP3euUgUp/WBtB/kMKzbEjob045/nfimLnAxiCZbeEelEe/dOQzt/WDpt7BA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:44:57.983476Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.21338","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8489bf97f284f6e2447416c2f0c65735e874666fb2cfd4672bc55f07fb2d4514","sha256:1ae1e71e91720eb4c09f258fc705396ed121d7a292dd8fb7d3c7e24c84776584"],"state_sha256":"f6b5293a7b4b4926b9ae3e0f9c79e174d6f33e9d15adffedd9406e1a7560026b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iezh20HgZ75a6iuymWDb7jN1j6xovtpaNBA7NSFJOV9QgNdSbVmNOzw/+9SSb34dHDxgmsD7gvv8m8L6oRGiCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T20:58:21.419137Z","bundle_sha256":"45997d1619c3903d30708b296fef56cb7fff851ebe9efd99fca3b0bb3425039a"}}