{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:7IO7N3PRESTNFVPM4YCKI4HLJM","short_pith_number":"pith:7IO7N3PR","canonical_record":{"source":{"id":"2309.09212","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-17T08:41:11Z","cross_cats_sorted":[],"title_canon_sha256":"fec7685c92351fdd62bd61d0a9eeba1ea39c354d2a4559699935b052f05c67a8","abstract_canon_sha256":"2c45af6769002d535479115115e759954b5772987b3fcb80d0c0f91ca79f5d32"},"schema_version":"1.0"},"canonical_sha256":"fa1df6edf124a6d2d5ece604a470eb4b365b7edd4b325cbd11adabe4b87a9018","source":{"kind":"arxiv","id":"2309.09212","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.09212","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"arxiv_version","alias_value":"2309.09212v2","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.09212","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_12","alias_value":"7IO7N3PRESTN","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_16","alias_value":"7IO7N3PRESTNFVPM","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_8","alias_value":"7IO7N3PR","created_at":"2026-07-05T07:38:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:7IO7N3PRESTNFVPM4YCKI4HLJM","target":"record","payload":{"canonical_record":{"source":{"id":"2309.09212","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-17T08:41:11Z","cross_cats_sorted":[],"title_canon_sha256":"fec7685c92351fdd62bd61d0a9eeba1ea39c354d2a4559699935b052f05c67a8","abstract_canon_sha256":"2c45af6769002d535479115115e759954b5772987b3fcb80d0c0f91ca79f5d32"},"schema_version":"1.0"},"canonical_sha256":"fa1df6edf124a6d2d5ece604a470eb4b365b7edd4b325cbd11adabe4b87a9018","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:38:30.685367Z","signature_b64":"kQEnDrPJpofvRK3Y8LMqKbOG6YpZ5YQQXd58jgr4Htkb+9X5q4/v2z5pdvGwkFtfz+csp5gCvBQyxfnYY5I9Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa1df6edf124a6d2d5ece604a470eb4b365b7edd4b325cbd11adabe4b87a9018","last_reissued_at":"2026-07-05T07:38:30.684865Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:38:30.684865Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.09212","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":"2026-07-05T07:38:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rHvGFIM8577xXo+BOotv9z2def9ANyd1wT8t6n+860x1S2kArFiyaNepUpi9ow8boIiwNt4FldwBT946uVFoBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T20:36:59.496590Z"},"content_sha256":"ee819d003643d06026a2d1f615c0c9ffb628ec652aed79f9fdaf715f51741764","schema_version":"1.0","event_id":"sha256:ee819d003643d06026a2d1f615c0c9ffb628ec652aed79f9fdaf715f51741764"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:7IO7N3PRESTNFVPM4YCKI4HLJM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brian Plancher, Gaurav Vikhe, Giulio Corradi, Jason Jabbour, Juan Manuel Reina-Mu\\~noz, Marti\\~no Crespo-\\'Alvarez, Martin Pinzger, Matthew Stewart, Mohammad Bakhshalipour, Niladri Roy, Phillip B. Gibbons, Prateek Nagras, Sabrina M. Neuman, Smruti Panigrahi, Stefan Rass, V\\'ictor Mayoral-Vilches, Vijay Janapa Reddi, Yu-Shun Hsiao, Zishen Wan","submitted_at":"2023-09-17T08:41:11Z","abstract_excerpt":"We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.09212","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/2309.09212/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":"2026-07-05T07:38:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EaGuoLAhQOsZ0uTGkBnrf/IPM640cx7ZauSpvLLP5FY7ph/y/ur2vZgzrBw9m0yPNvFn9D0G5dMLIJPWPSj3CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T20:36:59.497150Z"},"content_sha256":"3bce0335438ca1efb7470006e56c096dc2cdc262ed2cac8e783b05e902403c76","schema_version":"1.0","event_id":"sha256:3bce0335438ca1efb7470006e56c096dc2cdc262ed2cac8e783b05e902403c76"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/bundle.json","state_url":"https://pith.science/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/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":"2026-08-04T20:36:59Z","links":{"resolver":"https://pith.science/pith/7IO7N3PRESTNFVPM4YCKI4HLJM","bundle":"https://pith.science/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/bundle.json","state":"https://pith.science/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7IO7N3PRESTNFVPM4YCKI4HLJM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7IO7N3PRESTNFVPM4YCKI4HLJM","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":"2c45af6769002d535479115115e759954b5772987b3fcb80d0c0f91ca79f5d32","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-17T08:41:11Z","title_canon_sha256":"fec7685c92351fdd62bd61d0a9eeba1ea39c354d2a4559699935b052f05c67a8"},"schema_version":"1.0","source":{"id":"2309.09212","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.09212","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"arxiv_version","alias_value":"2309.09212v2","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.09212","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_12","alias_value":"7IO7N3PRESTN","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_16","alias_value":"7IO7N3PRESTNFVPM","created_at":"2026-07-05T07:38:30Z"},{"alias_kind":"pith_short_8","alias_value":"7IO7N3PR","created_at":"2026-07-05T07:38:30Z"}],"graph_snapshots":[{"event_id":"sha256:3bce0335438ca1efb7470006e56c096dc2cdc262ed2cac8e783b05e902403c76","target":"graph","created_at":"2026-07-05T07:38:30Z","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/2309.09212/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to","authors_text":"Brian Plancher, Gaurav Vikhe, Giulio Corradi, Jason Jabbour, Juan Manuel Reina-Mu\\~noz, Marti\\~no Crespo-\\'Alvarez, Martin Pinzger, Matthew Stewart, Mohammad Bakhshalipour, Niladri Roy, Phillip B. Gibbons, Prateek Nagras, Sabrina M. Neuman, Smruti Panigrahi, Stefan Rass, V\\'ictor Mayoral-Vilches, Vijay Janapa Reddi, Yu-Shun Hsiao, Zishen Wan","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-17T08:41:11Z","title":"RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.09212","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:ee819d003643d06026a2d1f615c0c9ffb628ec652aed79f9fdaf715f51741764","target":"record","created_at":"2026-07-05T07:38:30Z","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":"2c45af6769002d535479115115e759954b5772987b3fcb80d0c0f91ca79f5d32","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-17T08:41:11Z","title_canon_sha256":"fec7685c92351fdd62bd61d0a9eeba1ea39c354d2a4559699935b052f05c67a8"},"schema_version":"1.0","source":{"id":"2309.09212","kind":"arxiv","version":2}},"canonical_sha256":"fa1df6edf124a6d2d5ece604a470eb4b365b7edd4b325cbd11adabe4b87a9018","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa1df6edf124a6d2d5ece604a470eb4b365b7edd4b325cbd11adabe4b87a9018","first_computed_at":"2026-07-05T07:38:30.684865Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:38:30.684865Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kQEnDrPJpofvRK3Y8LMqKbOG6YpZ5YQQXd58jgr4Htkb+9X5q4/v2z5pdvGwkFtfz+csp5gCvBQyxfnYY5I9Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:38:30.685367Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.09212","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ee819d003643d06026a2d1f615c0c9ffb628ec652aed79f9fdaf715f51741764","sha256:3bce0335438ca1efb7470006e56c096dc2cdc262ed2cac8e783b05e902403c76"],"state_sha256":"bcb5a1c1ed9d8ad22122adef8c9efa0504d9fd5b72829e243e884da60d24ca7e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0vwcEeOlVv9KW0Xlgi8fhfXARR+3mTFWjU/EKXjVjZQzCzRiA2qyi7YWBxPPNJufuhuZNV2t/+vK0yCtX9rAAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T20:36:59.531831Z","bundle_sha256":"a0d7bfba2321243129a5898561d07fc5eef046f45819afdafc79a262f5177e8a"}}