{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:E4LIN4GSET72APUCPQCAYB6IK7","short_pith_number":"pith:E4LIN4GS","canonical_record":{"source":{"id":"1408.0200","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-08-01T15:07:42Z","cross_cats_sorted":[],"title_canon_sha256":"62e145034e15acccdffc17af5635fa92ea7b1867a7456045002ce47869c9beed","abstract_canon_sha256":"c4d190c5c1f9db34e691ab1e6c1ef316a89126c5f18d7678bf7c1b89d98784fd"},"schema_version":"1.0"},"canonical_sha256":"271686f0d224ffa03e827c040c07c857e2010be20435fbbc5a7bcdaf32423c40","source":{"kind":"arxiv","id":"1408.0200","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1408.0200","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"arxiv_version","alias_value":"1408.0200v1","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1408.0200","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"pith_short_12","alias_value":"E4LIN4GSET72","created_at":"2026-05-18T12:28:25Z"},{"alias_kind":"pith_short_16","alias_value":"E4LIN4GSET72APUC","created_at":"2026-05-18T12:28:25Z"},{"alias_kind":"pith_short_8","alias_value":"E4LIN4GS","created_at":"2026-05-18T12:28:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:E4LIN4GSET72APUCPQCAYB6IK7","target":"record","payload":{"canonical_record":{"source":{"id":"1408.0200","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-08-01T15:07:42Z","cross_cats_sorted":[],"title_canon_sha256":"62e145034e15acccdffc17af5635fa92ea7b1867a7456045002ce47869c9beed","abstract_canon_sha256":"c4d190c5c1f9db34e691ab1e6c1ef316a89126c5f18d7678bf7c1b89d98784fd"},"schema_version":"1.0"},"canonical_sha256":"271686f0d224ffa03e827c040c07c857e2010be20435fbbc5a7bcdaf32423c40","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:46:03.630437Z","signature_b64":"rbuc2NsSuIZgN97rgycj4LnvxN2MQBhhSU8vjCPbNpIGCaChuGFrj2MqmjjLfnjcaqVurzBCUa/QjCX8U45HCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"271686f0d224ffa03e827c040c07c857e2010be20435fbbc5a7bcdaf32423c40","last_reissued_at":"2026-05-18T02:46:03.630003Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:46:03.630003Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1408.0200","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:46:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OBs85bxgYYPihOsvIS78N3pw7GeIxTqGxineRz3LCCtY+OOL/bDlkOnPXtMYneHr0PxNdQ2NHXOv+Jg1AnGABA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:42:02.256363Z"},"content_sha256":"27e4b74330e97ab7cd4e90f2bfd2f1bb0a69e18975b2a9217ca067a5c7b6321e","schema_version":"1.0","event_id":"sha256:27e4b74330e97ab7cd4e90f2bfd2f1bb0a69e18975b2a9217ca067a5c7b6321e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:E4LIN4GSET72APUCPQCAYB6IK7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards a Domain Specific Language for a Scene Graph based Robotic World Model","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Herman Bruyninckx, Sebastian Blumenthal","submitted_at":"2014-08-01T15:07:42Z","abstract_excerpt":"Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic world models that are based on the Robot Scene Graph (RSG) approach. The RSG-DSL can express (a) application specific scene configurations, (b) semantic scene structures and (c) inputs and outputs for the computational entities that are loaded into an instance of a world model."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1408.0200","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T02:46:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ijFO+gV9nyEKFX/2i55wQ6xTBfi/Kdn44L5S/WJilwF7m7FoaHMKmF5d7bfMsJKO8XqIaYWbSz+YcLCQgxWxDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:42:02.268707Z"},"content_sha256":"e6e3bafe14e4d5700d1b1f21c1aeab235ced502621ccf4814b040121fb596ce6","schema_version":"1.0","event_id":"sha256:e6e3bafe14e4d5700d1b1f21c1aeab235ced502621ccf4814b040121fb596ce6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/E4LIN4GSET72APUCPQCAYB6IK7/bundle.json","state_url":"https://pith.science/pith/E4LIN4GSET72APUCPQCAYB6IK7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/E4LIN4GSET72APUCPQCAYB6IK7/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":"2026-06-05T19:42:02Z","links":{"resolver":"https://pith.science/pith/E4LIN4GSET72APUCPQCAYB6IK7","bundle":"https://pith.science/pith/E4LIN4GSET72APUCPQCAYB6IK7/bundle.json","state":"https://pith.science/pith/E4LIN4GSET72APUCPQCAYB6IK7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/E4LIN4GSET72APUCPQCAYB6IK7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:E4LIN4GSET72APUCPQCAYB6IK7","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":"c4d190c5c1f9db34e691ab1e6c1ef316a89126c5f18d7678bf7c1b89d98784fd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-08-01T15:07:42Z","title_canon_sha256":"62e145034e15acccdffc17af5635fa92ea7b1867a7456045002ce47869c9beed"},"schema_version":"1.0","source":{"id":"1408.0200","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1408.0200","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"arxiv_version","alias_value":"1408.0200v1","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1408.0200","created_at":"2026-05-18T02:46:03Z"},{"alias_kind":"pith_short_12","alias_value":"E4LIN4GSET72","created_at":"2026-05-18T12:28:25Z"},{"alias_kind":"pith_short_16","alias_value":"E4LIN4GSET72APUC","created_at":"2026-05-18T12:28:25Z"},{"alias_kind":"pith_short_8","alias_value":"E4LIN4GS","created_at":"2026-05-18T12:28:25Z"}],"graph_snapshots":[{"event_id":"sha256:e6e3bafe14e4d5700d1b1f21c1aeab235ced502621ccf4814b040121fb596ce6","target":"graph","created_at":"2026-05-18T02:46:03Z","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"},"paper":{"abstract_excerpt":"Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic world models that are based on the Robot Scene Graph (RSG) approach. The RSG-DSL can express (a) application specific scene configurations, (b) semantic scene structures and (c) inputs and outputs for the computational entities that are loaded into an instance of a world model.","authors_text":"Herman Bruyninckx, Sebastian Blumenthal","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-08-01T15:07:42Z","title":"Towards a Domain Specific Language for a Scene Graph based Robotic World Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1408.0200","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":"sha256:27e4b74330e97ab7cd4e90f2bfd2f1bb0a69e18975b2a9217ca067a5c7b6321e","target":"record","created_at":"2026-05-18T02:46:03Z","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":"c4d190c5c1f9db34e691ab1e6c1ef316a89126c5f18d7678bf7c1b89d98784fd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-08-01T15:07:42Z","title_canon_sha256":"62e145034e15acccdffc17af5635fa92ea7b1867a7456045002ce47869c9beed"},"schema_version":"1.0","source":{"id":"1408.0200","kind":"arxiv","version":1}},"canonical_sha256":"271686f0d224ffa03e827c040c07c857e2010be20435fbbc5a7bcdaf32423c40","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"271686f0d224ffa03e827c040c07c857e2010be20435fbbc5a7bcdaf32423c40","first_computed_at":"2026-05-18T02:46:03.630003Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:46:03.630003Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rbuc2NsSuIZgN97rgycj4LnvxN2MQBhhSU8vjCPbNpIGCaChuGFrj2MqmjjLfnjcaqVurzBCUa/QjCX8U45HCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:46:03.630437Z","signed_message":"canonical_sha256_bytes"},"source_id":"1408.0200","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:27e4b74330e97ab7cd4e90f2bfd2f1bb0a69e18975b2a9217ca067a5c7b6321e","sha256:e6e3bafe14e4d5700d1b1f21c1aeab235ced502621ccf4814b040121fb596ce6"],"state_sha256":"4582c6459a388bf67d562f415ee0c696a6e75224e0d760e7b7547c1dcd8a1688"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QEm+q1AyiQ8LxbzNRvAMBlsLiy5silHR+/1H0kcdoqShzSY/Ms1TLaUtO5Z1yFfMJ5PxKfYo1wIfj7LjvXdVBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T19:42:02.335758Z","bundle_sha256":"2674f5897038b235474df4a88b92da9697320c1933c334090b009dfc79af4c3b"}}