{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:EXHMTUUAAGS4JUOTNHN4RZZTAW","short_pith_number":"pith:EXHMTUUA","canonical_record":{"source":{"id":"2310.09892","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T17:22:39Z","cross_cats_sorted":[],"title_canon_sha256":"26adb6de10161c2b61d8d8e593cf026863892e859eb5a889c70332808efe45f3","abstract_canon_sha256":"ffe3ca8c1d86a41b91e6549f415bfb50536f8d4e8ed41a01f80ddfaa7fc88c31"},"schema_version":"1.0"},"canonical_sha256":"25cec9d28001a5c4d1d369dbc8e73305b1e615c691df970ba17b796328765be9","source":{"kind":"arxiv","id":"2310.09892","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.09892","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2310.09892v2","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.09892","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"EXHMTUUAAGS4","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"EXHMTUUAAGS4JUOT","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"EXHMTUUA","created_at":"2026-07-05T08:15:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:EXHMTUUAAGS4JUOTNHN4RZZTAW","target":"record","payload":{"canonical_record":{"source":{"id":"2310.09892","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T17:22:39Z","cross_cats_sorted":[],"title_canon_sha256":"26adb6de10161c2b61d8d8e593cf026863892e859eb5a889c70332808efe45f3","abstract_canon_sha256":"ffe3ca8c1d86a41b91e6549f415bfb50536f8d4e8ed41a01f80ddfaa7fc88c31"},"schema_version":"1.0"},"canonical_sha256":"25cec9d28001a5c4d1d369dbc8e73305b1e615c691df970ba17b796328765be9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:15:40.566669Z","signature_b64":"uIAzMTuGoXSJeox7Jc2s5jXP0Np2UPdXwMhVFYiwd78627uHPBTwn/Urti71TPhwqDXoYzCgA3Hog1EVgDEGAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"25cec9d28001a5c4d1d369dbc8e73305b1e615c691df970ba17b796328765be9","last_reissued_at":"2026-07-05T08:15:40.566140Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:15:40.566140Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.09892","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CwzXZ4xpoGItYNzi20RpffKIttbjYR96B7TGIQbP5odYBgwLmCrfW13cTaoo/cAlHP+ZFBhn7SvYCUCq0MXtCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T12:18:47.481349Z"},"content_sha256":"a105e0fbb7043405d476ce560cfaa25c9254cde8c6cfe87fc0862050a3cb773d","schema_version":"1.0","event_id":"sha256:a105e0fbb7043405d476ce560cfaa25c9254cde8c6cfe87fc0862050a3cb773d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:EXHMTUUAAGS4JUOTNHN4RZZTAW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Active Perception using Neural Radiance Fields","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christopher D. Hsu, Dexter Ong, Pratik Chaudhari, Siming He, Yifei Simon Shao","submitted_at":"2023-10-15T17:22:39Z","abstract_excerpt":"We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires (a) a representation of the scene that summarizes past observations and the ability to update this representation to incorporate new observations (state estimation and mapping), (b) the ability to synthesize new observations of the scene (a generative model), and (c) the ability to select control trajectories that maximize predictive information (planning). This motivates a neura"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.09892","kind":"arxiv","version":2},"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/2310.09892/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QV4IfxFQiyx3sCJxscF52oj+YZfB/YdELSaU99tnRVBvWLr7CHSrtO1wOh2cn2KJZk2wxdJNhstmLJp9DPR/DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T12:18:47.482291Z"},"content_sha256":"2c3bef6331ffc81e3f3aaf0dc03d9a314d3480e766b7dfc7eea516a08c48b81e","schema_version":"1.0","event_id":"sha256:2c3bef6331ffc81e3f3aaf0dc03d9a314d3480e766b7dfc7eea516a08c48b81e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/bundle.json","state_url":"https://pith.science/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/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":"2026-08-07T12:18:47Z","links":{"resolver":"https://pith.science/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW","bundle":"https://pith.science/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/bundle.json","state":"https://pith.science/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EXHMTUUAAGS4JUOTNHN4RZZTAW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:EXHMTUUAAGS4JUOTNHN4RZZTAW","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":"ffe3ca8c1d86a41b91e6549f415bfb50536f8d4e8ed41a01f80ddfaa7fc88c31","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T17:22:39Z","title_canon_sha256":"26adb6de10161c2b61d8d8e593cf026863892e859eb5a889c70332808efe45f3"},"schema_version":"1.0","source":{"id":"2310.09892","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.09892","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2310.09892v2","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.09892","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"EXHMTUUAAGS4","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"EXHMTUUAAGS4JUOT","created_at":"2026-07-05T08:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"EXHMTUUA","created_at":"2026-07-05T08:15:40Z"}],"graph_snapshots":[{"event_id":"sha256:2c3bef6331ffc81e3f3aaf0dc03d9a314d3480e766b7dfc7eea516a08c48b81e","target":"graph","created_at":"2026-07-05T08:15:40Z","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/2310.09892/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires (a) a representation of the scene that summarizes past observations and the ability to update this representation to incorporate new observations (state estimation and mapping), (b) the ability to synthesize new observations of the scene (a generative model), and (c) the ability to select control trajectories that maximize predictive information (planning). This motivates a neura","authors_text":"Christopher D. Hsu, Dexter Ong, Pratik Chaudhari, Siming He, Yifei Simon Shao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T17:22:39Z","title":"Active Perception using Neural Radiance Fields"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.09892","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:a105e0fbb7043405d476ce560cfaa25c9254cde8c6cfe87fc0862050a3cb773d","target":"record","created_at":"2026-07-05T08:15:40Z","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":"ffe3ca8c1d86a41b91e6549f415bfb50536f8d4e8ed41a01f80ddfaa7fc88c31","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-15T17:22:39Z","title_canon_sha256":"26adb6de10161c2b61d8d8e593cf026863892e859eb5a889c70332808efe45f3"},"schema_version":"1.0","source":{"id":"2310.09892","kind":"arxiv","version":2}},"canonical_sha256":"25cec9d28001a5c4d1d369dbc8e73305b1e615c691df970ba17b796328765be9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"25cec9d28001a5c4d1d369dbc8e73305b1e615c691df970ba17b796328765be9","first_computed_at":"2026-07-05T08:15:40.566140Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:15:40.566140Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uIAzMTuGoXSJeox7Jc2s5jXP0Np2UPdXwMhVFYiwd78627uHPBTwn/Urti71TPhwqDXoYzCgA3Hog1EVgDEGAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:15:40.566669Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.09892","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a105e0fbb7043405d476ce560cfaa25c9254cde8c6cfe87fc0862050a3cb773d","sha256:2c3bef6331ffc81e3f3aaf0dc03d9a314d3480e766b7dfc7eea516a08c48b81e"],"state_sha256":"fdda628a836f9235a7664b982e1be9f99ff262280b7109827743afc9cea4f250"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2vR6SJtt3WM1kqrpUdCdhgI8+nM6tgFIdO6dtFh65J7X0cbbJf7B3aM0fJwWIG9JjWiZSB6OqYMDLNokUifvBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T12:18:47.515936Z","bundle_sha256":"1e438fd7a75afa169f41b6e44e2c5b23dc473d285c562e5d9e2f828a8a0e22e0"}}