{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:6PDGI5CWKORTP57D5HAONLCWWX","short_pith_number":"pith:6PDGI5CW","canonical_record":{"source":{"id":"2501.01806","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-03T13:36:53Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"31626a436333edcfb67b12a2016a52dd1091cd66c5d0c04224afb7530a121ba9","abstract_canon_sha256":"ffe28424fe1b2fc32742f813d7ce990c796e7a9fe4ccd7745accda19f477c446"},"schema_version":"1.0"},"canonical_sha256":"f3c664745653a337f7e3e9c0e6ac56b5d61b1ac413e386c61e3e9d0e8400aba2","source":{"kind":"arxiv","id":"2501.01806","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.01806","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"arxiv_version","alias_value":"2501.01806v1","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.01806","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_12","alias_value":"6PDGI5CWKORT","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_16","alias_value":"6PDGI5CWKORTP57D","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_8","alias_value":"6PDGI5CW","created_at":"2026-07-05T09:56:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:6PDGI5CWKORTP57D5HAONLCWWX","target":"record","payload":{"canonical_record":{"source":{"id":"2501.01806","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-03T13:36:53Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"31626a436333edcfb67b12a2016a52dd1091cd66c5d0c04224afb7530a121ba9","abstract_canon_sha256":"ffe28424fe1b2fc32742f813d7ce990c796e7a9fe4ccd7745accda19f477c446"},"schema_version":"1.0"},"canonical_sha256":"f3c664745653a337f7e3e9c0e6ac56b5d61b1ac413e386c61e3e9d0e8400aba2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:56:41.264201Z","signature_b64":"a/NfhtI7NRWNG5WBlr1ijEsxCUU25+/WtWBdghxlXLYzzTdFasvNwZ3S0+mEHWLXO2DK8wd5MW4SWWKGMCeUCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f3c664745653a337f7e3e9c0e6ac56b5d61b1ac413e386c61e3e9d0e8400aba2","last_reissued_at":"2026-07-05T09:56:41.263604Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:56:41.263604Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2501.01806","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":"2026-07-05T09:56:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0GWSWee0f36vH2J5fvBpMAygfLg1xxjtnegE7HJTB5f2u8J4XEiu4FnXw2sxxMJIczUIUnVMHYUIrqhKYwlKCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:40:55.436473Z"},"content_sha256":"a03b828228843be4cac60704fceee35c625a30b0e956e3298879785422144591","schema_version":"1.0","event_id":"sha256:a03b828228843be4cac60704fceee35c625a30b0e956e3298879785422144591"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:6PDGI5CWKORTP57D5HAONLCWWX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Byeongho Yu, Dongkyu Lee, Hyun Myung, I Made Aswin Nahrendra, Minho Oh","submitted_at":"2025-01-03T13:36:53Z","abstract_excerpt":"Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and reach the goal quickly and safely. In this paper, we propose a method for safe and distance-efficient path planning, leveraging Traversal Risk Graph (TRG), a novel graph representation that takes into account geometric traversability of the terrain. TRG nodes represent stability and reachability of the terrain, while edges represent relative traversal risk-wei"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.01806","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/2501.01806/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":"2026-07-05T09:56:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+HmXVmM7D0vXzAv98d83Wb3ekHENXMfzk8LsdcN0mipPJWHEE6tCTGQCHdTd00G+ENQpL7gcZzoQ5VnHAjwPBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:40:55.436975Z"},"content_sha256":"e6fc818ff5870fc211d55973be62baf337eb88c9bbf54ef40ebc3708fd7626b6","schema_version":"1.0","event_id":"sha256:e6fc818ff5870fc211d55973be62baf337eb88c9bbf54ef40ebc3708fd7626b6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6PDGI5CWKORTP57D5HAONLCWWX/bundle.json","state_url":"https://pith.science/pith/6PDGI5CWKORTP57D5HAONLCWWX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6PDGI5CWKORTP57D5HAONLCWWX/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":"2026-08-06T05:40:55Z","links":{"resolver":"https://pith.science/pith/6PDGI5CWKORTP57D5HAONLCWWX","bundle":"https://pith.science/pith/6PDGI5CWKORTP57D5HAONLCWWX/bundle.json","state":"https://pith.science/pith/6PDGI5CWKORTP57D5HAONLCWWX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6PDGI5CWKORTP57D5HAONLCWWX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:6PDGI5CWKORTP57D5HAONLCWWX","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":"ffe28424fe1b2fc32742f813d7ce990c796e7a9fe4ccd7745accda19f477c446","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-03T13:36:53Z","title_canon_sha256":"31626a436333edcfb67b12a2016a52dd1091cd66c5d0c04224afb7530a121ba9"},"schema_version":"1.0","source":{"id":"2501.01806","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.01806","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"arxiv_version","alias_value":"2501.01806v1","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.01806","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_12","alias_value":"6PDGI5CWKORT","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_16","alias_value":"6PDGI5CWKORTP57D","created_at":"2026-07-05T09:56:41Z"},{"alias_kind":"pith_short_8","alias_value":"6PDGI5CW","created_at":"2026-07-05T09:56:41Z"}],"graph_snapshots":[{"event_id":"sha256:e6fc818ff5870fc211d55973be62baf337eb88c9bbf54ef40ebc3708fd7626b6","target":"graph","created_at":"2026-07-05T09:56:41Z","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/2501.01806/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and reach the goal quickly and safely. In this paper, we propose a method for safe and distance-efficient path planning, leveraging Traversal Risk Graph (TRG), a novel graph representation that takes into account geometric traversability of the terrain. TRG nodes represent stability and reachability of the terrain, while edges represent relative traversal risk-wei","authors_text":"Byeongho Yu, Dongkyu Lee, Hyun Myung, I Made Aswin Nahrendra, Minho Oh","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-03T13:36:53Z","title":"TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.01806","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:a03b828228843be4cac60704fceee35c625a30b0e956e3298879785422144591","target":"record","created_at":"2026-07-05T09:56:41Z","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":"ffe28424fe1b2fc32742f813d7ce990c796e7a9fe4ccd7745accda19f477c446","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-03T13:36:53Z","title_canon_sha256":"31626a436333edcfb67b12a2016a52dd1091cd66c5d0c04224afb7530a121ba9"},"schema_version":"1.0","source":{"id":"2501.01806","kind":"arxiv","version":1}},"canonical_sha256":"f3c664745653a337f7e3e9c0e6ac56b5d61b1ac413e386c61e3e9d0e8400aba2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f3c664745653a337f7e3e9c0e6ac56b5d61b1ac413e386c61e3e9d0e8400aba2","first_computed_at":"2026-07-05T09:56:41.263604Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:56:41.263604Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a/NfhtI7NRWNG5WBlr1ijEsxCUU25+/WtWBdghxlXLYzzTdFasvNwZ3S0+mEHWLXO2DK8wd5MW4SWWKGMCeUCw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:56:41.264201Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.01806","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a03b828228843be4cac60704fceee35c625a30b0e956e3298879785422144591","sha256:e6fc818ff5870fc211d55973be62baf337eb88c9bbf54ef40ebc3708fd7626b6"],"state_sha256":"ef24759350bfd8f0e5161a65a5b40bf3458c8d4b03c123b3e351a924547111ff"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G3SEjZK4MER9aLXO6ulFIPbnIlrQZ3p99/U9YDnCSgCa/ROFo0xaBmOZWuLq35G57nbY0vPnFMD0dZjLJrVPCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T05:40:55.440759Z","bundle_sha256":"d4b79c54936794933768196a09b05676550c7204819b69fef50432d535e8d1ae"}}