{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:43CSZOO6KUCOSAHCRWZX2YEEW4","short_pith_number":"pith:43CSZOO6","canonical_record":{"source":{"id":"2601.23038","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-30T14:46:15Z","cross_cats_sorted":[],"title_canon_sha256":"3f89b59f575ecc95be93a73ce1f65f0d56a27d85326dea6af8426392fb0845f7","abstract_canon_sha256":"30fe59a7ae9d9cfd6627c824fbff7daa2dc6fffd84f6970712efeb09de0f78df"},"schema_version":"1.0"},"canonical_sha256":"e6c52cb9de5504e900e28db37d6084b72d1e80359921d6869501d7731859fd7b","source":{"kind":"arxiv","id":"2601.23038","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.23038","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"arxiv_version","alias_value":"2601.23038v3","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.23038","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_12","alias_value":"43CSZOO6KUCO","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_16","alias_value":"43CSZOO6KUCOSAHC","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_8","alias_value":"43CSZOO6","created_at":"2026-07-07T02:19:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:43CSZOO6KUCOSAHCRWZX2YEEW4","target":"record","payload":{"canonical_record":{"source":{"id":"2601.23038","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-30T14:46:15Z","cross_cats_sorted":[],"title_canon_sha256":"3f89b59f575ecc95be93a73ce1f65f0d56a27d85326dea6af8426392fb0845f7","abstract_canon_sha256":"30fe59a7ae9d9cfd6627c824fbff7daa2dc6fffd84f6970712efeb09de0f78df"},"schema_version":"1.0"},"canonical_sha256":"e6c52cb9de5504e900e28db37d6084b72d1e80359921d6869501d7731859fd7b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-07T02:19:46.284535Z","signature_b64":"lJyqcxzVzwEEx1eSnmnBgLuoUtU+7WDKKpcl9U516r7JSPlgDq+do6SVE1EELSVFXEmXbN55nEaE2qIOzgR8Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e6c52cb9de5504e900e28db37d6084b72d1e80359921d6869501d7731859fd7b","last_reissued_at":"2026-07-07T02:19:46.283810Z","signature_status":"signed_v1","first_computed_at":"2026-07-07T02:19:46.283810Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2601.23038","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":"2026-07-07T02:19:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JInuWX1ofAWhY6nLPQ3f+OpaCljokoaJToQ3Hm1BLedbKVBUXXNY1iyZ+k3ASvhEhT17TEJ72UJZuzcDjEdrCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T13:38:41.321307Z"},"content_sha256":"faecf60e72df866edbc2f398b95656094803efacd73a4c92ea4a2cfcb7bb66a7","schema_version":"1.0","event_id":"sha256:faecf60e72df866edbc2f398b95656094803efacd73a4c92ea4a2cfcb7bb66a7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:43CSZOO6KUCOSAHCRWZX2YEEW4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arne Roennau, David Oberacker, Hendrik Kolvenbach, Julia Richter, Lennart Puck, Marco Hutter, Marvin Grosse Besselmann, Maximilian Schik, Philip Arm, R\\\"udiger Dillmann, Sabine Bellmann, Tristan Schnell, William Talbot","submitted_at":"2026-01-30T14:46:15Z","abstract_excerpt":"Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires near-continuous low-latency communication between the operator and the robot. We present MOSAIC: a scalable autonomy framework for multi-robot scientific exploration using a unified mission abstraction based on Points of Interest (POIs) and multiple layers of autonomy, enabling supervision by a single operator. The framework dynamically allocates exploration and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.23038","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/2601.23038/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":"2026-07-07T02:19:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KfjpSG+9kaUcg9o04yEK9f4ca93Ffl2gF+za1dERiDyiCkhYWC7ma8bOVuU41gQJhS87DGSgA4KBnR+bKvUGBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T13:38:41.322820Z"},"content_sha256":"b59c8ec8d0e490ca53d066026ed009b7281c5ce6b8e01b368c87eb0d0ac0d161","schema_version":"1.0","event_id":"sha256:b59c8ec8d0e490ca53d066026ed009b7281c5ce6b8e01b368c87eb0d0ac0d161"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/bundle.json","state_url":"https://pith.science/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/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":"2026-08-04T13:38:41Z","links":{"resolver":"https://pith.science/pith/43CSZOO6KUCOSAHCRWZX2YEEW4","bundle":"https://pith.science/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/bundle.json","state":"https://pith.science/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/43CSZOO6KUCOSAHCRWZX2YEEW4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:43CSZOO6KUCOSAHCRWZX2YEEW4","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":"30fe59a7ae9d9cfd6627c824fbff7daa2dc6fffd84f6970712efeb09de0f78df","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-30T14:46:15Z","title_canon_sha256":"3f89b59f575ecc95be93a73ce1f65f0d56a27d85326dea6af8426392fb0845f7"},"schema_version":"1.0","source":{"id":"2601.23038","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.23038","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"arxiv_version","alias_value":"2601.23038v3","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.23038","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_12","alias_value":"43CSZOO6KUCO","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_16","alias_value":"43CSZOO6KUCOSAHC","created_at":"2026-07-07T02:19:46Z"},{"alias_kind":"pith_short_8","alias_value":"43CSZOO6","created_at":"2026-07-07T02:19:46Z"}],"graph_snapshots":[{"event_id":"sha256:b59c8ec8d0e490ca53d066026ed009b7281c5ce6b8e01b368c87eb0d0ac0d161","target":"graph","created_at":"2026-07-07T02:19:46Z","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/2601.23038/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires near-continuous low-latency communication between the operator and the robot. We present MOSAIC: a scalable autonomy framework for multi-robot scientific exploration using a unified mission abstraction based on Points of Interest (POIs) and multiple layers of autonomy, enabling supervision by a single operator. The framework dynamically allocates exploration and ","authors_text":"Arne Roennau, David Oberacker, Hendrik Kolvenbach, Julia Richter, Lennart Puck, Marco Hutter, Marvin Grosse Besselmann, Maximilian Schik, Philip Arm, R\\\"udiger Dillmann, Sabine Bellmann, Tristan Schnell, William Talbot","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-30T14:46:15Z","title":"MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.23038","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:faecf60e72df866edbc2f398b95656094803efacd73a4c92ea4a2cfcb7bb66a7","target":"record","created_at":"2026-07-07T02:19:46Z","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":"30fe59a7ae9d9cfd6627c824fbff7daa2dc6fffd84f6970712efeb09de0f78df","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-30T14:46:15Z","title_canon_sha256":"3f89b59f575ecc95be93a73ce1f65f0d56a27d85326dea6af8426392fb0845f7"},"schema_version":"1.0","source":{"id":"2601.23038","kind":"arxiv","version":3}},"canonical_sha256":"e6c52cb9de5504e900e28db37d6084b72d1e80359921d6869501d7731859fd7b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e6c52cb9de5504e900e28db37d6084b72d1e80359921d6869501d7731859fd7b","first_computed_at":"2026-07-07T02:19:46.283810Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-07T02:19:46.283810Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lJyqcxzVzwEEx1eSnmnBgLuoUtU+7WDKKpcl9U516r7JSPlgDq+do6SVE1EELSVFXEmXbN55nEaE2qIOzgR8Dg==","signature_status":"signed_v1","signed_at":"2026-07-07T02:19:46.284535Z","signed_message":"canonical_sha256_bytes"},"source_id":"2601.23038","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:faecf60e72df866edbc2f398b95656094803efacd73a4c92ea4a2cfcb7bb66a7","sha256:b59c8ec8d0e490ca53d066026ed009b7281c5ce6b8e01b368c87eb0d0ac0d161"],"state_sha256":"2139e41e71c977bb41cae4dbf7fa305cb8021dd60b377abcb269e83058472273"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ev7ZKvaQ+thOi+/iI4LJqbDL34LbfPnnBbErj+VppCD+sAUoNtn9+9wb3i53BZKUX6kP+sR2oQE78fagesF6Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T13:38:41.330060Z","bundle_sha256":"f567442d8d1b4153c35aa3702a2dba442288a5c74d861dfa8946026a30bcd2f3"}}