{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:F2VXH25HTSMWQGBOKB4SPU2T75","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":"9913ac1dd3abf1c82281816a161ea2eba936260a09f58427f1b2468d64683a9b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T13:41:07Z","title_canon_sha256":"11f36fcdba6cd5b99230aa762dc7a772488ae50807b777888e71e801c8e5707a"},"schema_version":"1.0","source":{"id":"2606.19067","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19067","created_at":"2026-06-19T16:11:55Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19067v1","created_at":"2026-06-19T16:11:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19067","created_at":"2026-06-19T16:11:55Z"},{"alias_kind":"pith_short_12","alias_value":"F2VXH25HTSMW","created_at":"2026-06-19T16:11:55Z"},{"alias_kind":"pith_short_16","alias_value":"F2VXH25HTSMWQGBO","created_at":"2026-06-19T16:11:55Z"},{"alias_kind":"pith_short_8","alias_value":"F2VXH25H","created_at":"2026-06-19T16:11:55Z"}],"graph_snapshots":[{"event_id":"sha256:0780c6c7f28402fb59f28476ca9470050d6a7dd4e404567daab04527d5da074e","target":"graph","created_at":"2026-06-19T16:11:55Z","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/2606.19067/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous navigation of quadrupedal robots in diverse environments fundamentally relies on resilient Simultaneous Localization and Mapping (SLAM). While visual-inertial SLAM has matured across wheeled, handheld, and aerial platforms, a critical evaluation gap remains regarding how hardware-level sensor configurations affect performance under the aggressive dynamics of legged locomotion. Quadrupeds introduce distinct embodiment-induced sensory challenges, including foot-impact shocks, high-frequency mechanical vibrations, and rapid angular rotations, which degrade standard perception pipelines","authors_text":"Abhinav Valada, Arne Roennau, Fabian Schmidt, Markus Enzweiler, Nils Seibert, Roberto Corlito","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T13:41:07Z","title":"Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19067","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":"sha256:7445d092329de57f80ebc0860beb905e4884224b94a947b0bc28c6ef184b37ff","target":"record","created_at":"2026-06-19T16:11:55Z","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":"9913ac1dd3abf1c82281816a161ea2eba936260a09f58427f1b2468d64683a9b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T13:41:07Z","title_canon_sha256":"11f36fcdba6cd5b99230aa762dc7a772488ae50807b777888e71e801c8e5707a"},"schema_version":"1.0","source":{"id":"2606.19067","kind":"arxiv","version":1}},"canonical_sha256":"2eab73eba79c9968182e507927d353ff49c535ee5f9bea9b24c3de475bedf998","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2eab73eba79c9968182e507927d353ff49c535ee5f9bea9b24c3de475bedf998","first_computed_at":"2026-06-19T16:11:55.800946Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:11:55.800946Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xtS7OMIgu9ljbI8TTOQT7grk5HcmgoEko/jad+TJTgrcpsvznkD0Po8OEukGN/HBSWsqc6jwOaJapJxB68DqBg==","signature_status":"signed_v1","signed_at":"2026-06-19T16:11:55.801293Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.19067","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7445d092329de57f80ebc0860beb905e4884224b94a947b0bc28c6ef184b37ff","sha256:0780c6c7f28402fb59f28476ca9470050d6a7dd4e404567daab04527d5da074e"],"state_sha256":"e5f77d5e04162079f585f59f75df57be293177f7355c0070a6fa3585ed88f2f8"}