{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:DPIXZ3IA7GC4BB3J6HAMKQOTF7","short_pith_number":"pith:DPIXZ3IA","schema_version":"1.0","canonical_sha256":"1bd17ced00f985c08769f1c0c541d32fded92a9bc3bcca952a250ac81d672c9e","source":{"kind":"arxiv","id":"2109.12109","version":3},"attestation_state":"computed","paper":{"title":"Autonomy and Perception for Space Mining","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Adrian Orenstein, Alec Arthur, Andy Yu, Anh-Dzung Doan, Brandon Smart, Dustin Craggs, Elijah Schutz, Ian Reid, James Bockman, Ragav Sachdeva, Ravi Hammond, Tat-Jun Chin, Thomas Rowntree","submitted_at":"2021-09-27T02:52:46Z","abstract_excerpt":"Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using collaborative robots with a high degree of autonomy. In this paper, we describe our solution for Phase 2 of the NASA Space Robotics Challenge, which provided a simulated lunar environment in which teams were tasked to develop software systems to achieve autonomous collaborative robots for mining on the Moon. Our 3rd place and innovation award winning soluti"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2109.12109","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-27T02:52:46Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"title_canon_sha256":"8350cb636c3457f5404f917087ebeebceaab55dc3a1998381a5df2dffd1f81da","abstract_canon_sha256":"4e0a6cd7485969b177134754257abc06fb3be53f7d65afcefe62387a6ad46f19"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:14:25.552640Z","signature_b64":"lRH6s/mNaxpahULpAf0gspJjpAte63oIsI2dop42+rIaAGexJgkfOIBylSUFEM948SCem5ZeON1Jtp7OWzuDBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1bd17ced00f985c08769f1c0c541d32fded92a9bc3bcca952a250ac81d672c9e","last_reissued_at":"2026-07-05T04:14:25.552142Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:14:25.552142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Autonomy and Perception for Space Mining","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Adrian Orenstein, Alec Arthur, Andy Yu, Anh-Dzung Doan, Brandon Smart, Dustin Craggs, Elijah Schutz, Ian Reid, James Bockman, Ragav Sachdeva, Ravi Hammond, Tat-Jun Chin, Thomas Rowntree","submitted_at":"2021-09-27T02:52:46Z","abstract_excerpt":"Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using collaborative robots with a high degree of autonomy. In this paper, we describe our solution for Phase 2 of the NASA Space Robotics Challenge, which provided a simulated lunar environment in which teams were tasked to develop software systems to achieve autonomous collaborative robots for mining on the Moon. Our 3rd place and innovation award winning soluti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12109","kind":"arxiv","version":3},"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/2109.12109/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2109.12109","created_at":"2026-07-05T04:14:25.552200+00:00"},{"alias_kind":"arxiv_version","alias_value":"2109.12109v3","created_at":"2026-07-05T04:14:25.552200+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12109","created_at":"2026-07-05T04:14:25.552200+00:00"},{"alias_kind":"pith_short_12","alias_value":"DPIXZ3IA7GC4","created_at":"2026-07-05T04:14:25.552200+00:00"},{"alias_kind":"pith_short_16","alias_value":"DPIXZ3IA7GC4BB3J","created_at":"2026-07-05T04:14:25.552200+00:00"},{"alias_kind":"pith_short_8","alias_value":"DPIXZ3IA","created_at":"2026-07-05T04:14:25.552200+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7","json":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7.json","graph_json":"https://pith.science/api/pith-number/DPIXZ3IA7GC4BB3J6HAMKQOTF7/graph.json","events_json":"https://pith.science/api/pith-number/DPIXZ3IA7GC4BB3J6HAMKQOTF7/events.json","paper":"https://pith.science/paper/DPIXZ3IA"},"agent_actions":{"view_html":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7","download_json":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7.json","view_paper":"https://pith.science/paper/DPIXZ3IA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2109.12109&json=true","fetch_graph":"https://pith.science/api/pith-number/DPIXZ3IA7GC4BB3J6HAMKQOTF7/graph.json","fetch_events":"https://pith.science/api/pith-number/DPIXZ3IA7GC4BB3J6HAMKQOTF7/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7/action/timestamp_anchor","attest_storage":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7/action/storage_attestation","attest_author":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7/action/author_attestation","sign_citation":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7/action/citation_signature","submit_replication":"https://pith.science/pith/DPIXZ3IA7GC4BB3J6HAMKQOTF7/action/replication_record"}},"created_at":"2026-07-05T04:14:25.552200+00:00","updated_at":"2026-07-05T04:14:25.552200+00:00"}