{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AFKON7L3GSW7HE7DMHZTAB3AG2","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":"9696a34144f34b871017b86683ae70f844c0ee1f7312e2de64034abe575531df","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-31T13:11:11Z","title_canon_sha256":"d2ea783b045df43f5e9efadd826dbfdca2f74a2de75c39617e8e5aa6fa0d7729"},"schema_version":"1.0","source":{"id":"2607.29393","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.29393","created_at":"2026-08-03T01:33:36Z"},{"alias_kind":"arxiv_version","alias_value":"2607.29393v1","created_at":"2026-08-03T01:33:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.29393","created_at":"2026-08-03T01:33:36Z"},{"alias_kind":"pith_short_12","alias_value":"AFKON7L3GSW7","created_at":"2026-08-03T01:33:36Z"},{"alias_kind":"pith_short_16","alias_value":"AFKON7L3GSW7HE7D","created_at":"2026-08-03T01:33:36Z"},{"alias_kind":"pith_short_8","alias_value":"AFKON7L3","created_at":"2026-08-03T01:33:36Z"}],"graph_snapshots":[{"event_id":"sha256:04e4b14e7845b115086c3eb33cd654909e7be4df1d576e6256c629ca2b1bf61f","target":"graph","created_at":"2026-08-03T01:33:36Z","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/2607.29393/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Underwater robots combine complementary sensors whose reliability changes abruptly with water visibility, viewpoint, and vehicle motion. We introduce AquaJEPA, an action-conditioned joint-embedding predictive model that fuses an RGB camera, forward-looking sonar, and proprioception with explicit sensor validity. It predicts a future latent target conditioned on eight-thruster commands and supplies velocity and sonar-profile predictions to a shared receding-horizon planner. We study the method in Stonefish against reactive, state-only, ordinary multimodal, supervised dynamics, and recurrent wor","authors_text":"Alan-Barsag Gazzaev, Alexey Gavrilov, Sergey Muravyov","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-31T13:11:11Z","title":"AquaJEPA: Action-Conditioned Multimodal Predictive Representations for Underwater Robot Dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.29393","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":"sha256:34348df5cb0a9a26d83b024a1ec5122683a216ff46c245068f69785fdb86d4db","target":"record","created_at":"2026-08-03T01:33:36Z","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":"9696a34144f34b871017b86683ae70f844c0ee1f7312e2de64034abe575531df","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-31T13:11:11Z","title_canon_sha256":"d2ea783b045df43f5e9efadd826dbfdca2f74a2de75c39617e8e5aa6fa0d7729"},"schema_version":"1.0","source":{"id":"2607.29393","kind":"arxiv","version":1}},"canonical_sha256":"0154e6fd7b34adf393e361f330076036b102150d1ce271d0686b2804cf58b4c8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0154e6fd7b34adf393e361f330076036b102150d1ce271d0686b2804cf58b4c8","first_computed_at":"2026-08-03T01:33:36.240109Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-03T01:33:36.240109Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7tiiXZ30XqAvAk4gwmT2czPbJmetCGkFI1mKSRCg+FWAcKNMQ90OsLHR/tlb6Hw+FLjzkTk43sTKOMhBTRrdDQ==","signature_status":"signed_v1","signed_at":"2026-08-03T01:33:36.241578Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.29393","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:34348df5cb0a9a26d83b024a1ec5122683a216ff46c245068f69785fdb86d4db","sha256:04e4b14e7845b115086c3eb33cd654909e7be4df1d576e6256c629ca2b1bf61f"],"state_sha256":"1632a4f49567c716991172a4a9d7a4ab58505d4ce59f57e6e67984b366f5b4c2"}