{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:BZPNR4Q7OX4NSTYKEZAP7CG4JT","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":"a174a32c0fb21a84498e8da2327aa7408670c58ead42362740a5298e818d3400","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-26T19:54:24Z","title_canon_sha256":"2676dae2ae03dfe77dcc1ed0cc315bd3e0ca05e623816799b52e900d2258e02f"},"schema_version":"1.0","source":{"id":"2409.18253","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.18253","created_at":"2026-07-05T10:39:21Z"},{"alias_kind":"arxiv_version","alias_value":"2409.18253v2","created_at":"2026-07-05T10:39:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.18253","created_at":"2026-07-05T10:39:21Z"},{"alias_kind":"pith_short_12","alias_value":"BZPNR4Q7OX4N","created_at":"2026-07-05T10:39:21Z"},{"alias_kind":"pith_short_16","alias_value":"BZPNR4Q7OX4NSTYK","created_at":"2026-07-05T10:39:21Z"},{"alias_kind":"pith_short_8","alias_value":"BZPNR4Q7","created_at":"2026-07-05T10:39:21Z"}],"graph_snapshots":[{"event_id":"sha256:f98cb3f2d2d7e02316ceb7e06c0c3872e5c08de8fa9ec6d66e9eadbb6dbd2672","target":"graph","created_at":"2026-07-05T10:39:21Z","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/2409.18253/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks to predict traversability-related terrain properties in a self-supervised manner, relying on proprioception as a training signal. However, onboard cameras are inherently limited by their point-of-view relative to the ground, suffering from occlusions and vanishing pixel density with distance. This paper introduces a novel approach for self-supervised terrain","authors_text":"Effie Daum, Fran\\c{c}ois Pomerleau, Jean-Michel Fortin, Olivier Gamache, Philippe Gigu\\`ere, William Fecteau, William Larriv\\'ee-Hardy","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-26T19:54:24Z","title":"UAV-Assisted Self-Supervised Terrain Awareness for Off-Road Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.18253","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":"sha256:8f20d6c5a695a5d2a19b4dab9a94397541dbd0c18f31ddac06f3b76e21d2f2da","target":"record","created_at":"2026-07-05T10:39:21Z","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":"a174a32c0fb21a84498e8da2327aa7408670c58ead42362740a5298e818d3400","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-26T19:54:24Z","title_canon_sha256":"2676dae2ae03dfe77dcc1ed0cc315bd3e0ca05e623816799b52e900d2258e02f"},"schema_version":"1.0","source":{"id":"2409.18253","kind":"arxiv","version":2}},"canonical_sha256":"0e5ed8f21f75f8d94f0a2640ff88dc4ced27503422c601645d0367156a3157bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0e5ed8f21f75f8d94f0a2640ff88dc4ced27503422c601645d0367156a3157bc","first_computed_at":"2026-07-05T10:39:21.246179Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:39:21.246179Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HPMdwL4dCt6VQ6j0dYXHuoFwM41YQnOz56r7Mq/rsDqJrSrikAutfEAr9GpOvPvMWq1+I0FImE4CyLkckFb/Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T10:39:21.246678Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.18253","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f20d6c5a695a5d2a19b4dab9a94397541dbd0c18f31ddac06f3b76e21d2f2da","sha256:f98cb3f2d2d7e02316ceb7e06c0c3872e5c08de8fa9ec6d66e9eadbb6dbd2672"],"state_sha256":"2c3666257dd4f58c810154049ce235011005342e73903df5454acdec66a332f0"}