{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:7IWD3IJAUG6UO3ILPDYVTL36Z6","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":"c137cda90042dfd497d215747ca1e1cb5cc592f297737f0a57b24c6191d55d0e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:42:58Z","title_canon_sha256":"0a9e1d68dcd8c7febf7cc8e643c3d68c8aa99f48ea0c40500889255fb55891d6"},"schema_version":"1.0","source":{"id":"2402.17904","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.17904","created_at":"2026-07-05T10:45:51Z"},{"alias_kind":"arxiv_version","alias_value":"2402.17904v3","created_at":"2026-07-05T10:45:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.17904","created_at":"2026-07-05T10:45:51Z"},{"alias_kind":"pith_short_12","alias_value":"7IWD3IJAUG6U","created_at":"2026-07-05T10:45:51Z"},{"alias_kind":"pith_short_16","alias_value":"7IWD3IJAUG6UO3IL","created_at":"2026-07-05T10:45:51Z"},{"alias_kind":"pith_short_8","alias_value":"7IWD3IJA","created_at":"2026-07-05T10:45:51Z"}],"graph_snapshots":[{"event_id":"sha256:3428e7d64729d601ad77401c95fef861ad4b610e4220dc705fbf37a678dc2ef3","target":"graph","created_at":"2026-07-05T10:45:51Z","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/2402.17904/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Mobile robots in unknown cluttered environments with irregularly shaped obstacles often face energy and communication challenges which directly affect their ability to explore these environments. In this paper, we introduce a novel deep learning architecture, Confidence-Aware Contrastive Conditional Consistency Model (4CNet), for robot map prediction during decentralized, resource-limited multi-robot exploration. 4CNet uniquely incorporates: 1) a conditional consistency model for map prediction in unstructured unknown regions, 2) a contrastive map-trajectory pretraining framework for a traject","authors_text":"Aaron Hao Tan, Goldie Nejat, Siddarth Narasimhan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:42:58Z","title":"4CNet: A Diffusion Approach to Map Prediction for Decentralized Multi-Robot Exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.17904","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:fe36adf5d5d3acc344d1383736f9318b31998d7d3e6e4b785c50bf58c09559aa","target":"record","created_at":"2026-07-05T10:45:51Z","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":"c137cda90042dfd497d215747ca1e1cb5cc592f297737f0a57b24c6191d55d0e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-27T21:42:58Z","title_canon_sha256":"0a9e1d68dcd8c7febf7cc8e643c3d68c8aa99f48ea0c40500889255fb55891d6"},"schema_version":"1.0","source":{"id":"2402.17904","kind":"arxiv","version":3}},"canonical_sha256":"fa2c3da120a1bd476d0b78f159af7ecf84d45f50780e92a9cd78c362d318191a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa2c3da120a1bd476d0b78f159af7ecf84d45f50780e92a9cd78c362d318191a","first_computed_at":"2026-07-05T10:45:51.098740Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:45:51.098740Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xbb3XNMWlzqlyaAOAeL2aAUN2QsUQ2OLyjZVzcItPqSrMxX1TxjkEWLUSixMDRU5S1tRV74c5bvwlse1OVBBBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:45:51.099218Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.17904","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe36adf5d5d3acc344d1383736f9318b31998d7d3e6e4b785c50bf58c09559aa","sha256:3428e7d64729d601ad77401c95fef861ad4b610e4220dc705fbf37a678dc2ef3"],"state_sha256":"be4b798f70a430cdd07d3b72eeb8f393644d39d69ce0aac4ebac2930ce3fb2b3"}