{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:GWJCGQVRS7JDNXPWXXAAVRTQL5","short_pith_number":"pith:GWJCGQVR","schema_version":"1.0","canonical_sha256":"35922342b197d236ddf6bdc00ac6705f5d4677b409894033420300322606e194","source":{"kind":"arxiv","id":"2303.01614","version":1},"attestation_state":"computed","paper":{"title":"STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ali-akbar Agha-mohammadi, Anushri Dixit, David D. Fan, Joel W. Burdick, Kyohei Otsu, Sharmita Dey","submitted_at":"2023-03-02T22:35:02Z","abstract_excerpt":"Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped wilderness, caves, rubble, and other post-disaster sites pose unique and challenging problems for autonomous navigation. Based on our participation in the DARPA Subterranean Challenge, we propose an approach to improve autonomous traversal of robots in subterranean environments that are perceptually degraded and completely unknown through a traversability and pl"},"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":"2303.01614","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-02T22:35:02Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"de964078adb60114836e8a94cc9b587b3e3c8095e454cce296025b4dcb9464a7","abstract_canon_sha256":"ac3b4e23d3eb39b536f36fcdcb34f407c53f9959a51cf7253b3dd6eeb66abb83"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:02:42.558446Z","signature_b64":"WNvP+98x7XPhXybjnQEWsPOF09vA9C0j3tWu0vdIOBEyQk3Amview7eScWTYNGlJPPcf/yzO18go5LTTz3IYBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"35922342b197d236ddf6bdc00ac6705f5d4677b409894033420300322606e194","last_reissued_at":"2026-07-05T08:02:42.557960Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:02:42.557960Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ali-akbar Agha-mohammadi, Anushri Dixit, David D. Fan, Joel W. Burdick, Kyohei Otsu, Sharmita Dey","submitted_at":"2023-03-02T22:35:02Z","abstract_excerpt":"Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped wilderness, caves, rubble, and other post-disaster sites pose unique and challenging problems for autonomous navigation. Based on our participation in the DARPA Subterranean Challenge, we propose an approach to improve autonomous traversal of robots in subterranean environments that are perceptually degraded and completely unknown through a traversability and pl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.01614","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2303.01614/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":"2303.01614","created_at":"2026-07-05T08:02:42.558018+00:00"},{"alias_kind":"arxiv_version","alias_value":"2303.01614v1","created_at":"2026-07-05T08:02:42.558018+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.01614","created_at":"2026-07-05T08:02:42.558018+00:00"},{"alias_kind":"pith_short_12","alias_value":"GWJCGQVRS7JD","created_at":"2026-07-05T08:02:42.558018+00:00"},{"alias_kind":"pith_short_16","alias_value":"GWJCGQVRS7JDNXPW","created_at":"2026-07-05T08:02:42.558018+00:00"},{"alias_kind":"pith_short_8","alias_value":"GWJCGQVR","created_at":"2026-07-05T08:02:42.558018+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/GWJCGQVRS7JDNXPWXXAAVRTQL5","json":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5.json","graph_json":"https://pith.science/api/pith-number/GWJCGQVRS7JDNXPWXXAAVRTQL5/graph.json","events_json":"https://pith.science/api/pith-number/GWJCGQVRS7JDNXPWXXAAVRTQL5/events.json","paper":"https://pith.science/paper/GWJCGQVR"},"agent_actions":{"view_html":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5","download_json":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5.json","view_paper":"https://pith.science/paper/GWJCGQVR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2303.01614&json=true","fetch_graph":"https://pith.science/api/pith-number/GWJCGQVRS7JDNXPWXXAAVRTQL5/graph.json","fetch_events":"https://pith.science/api/pith-number/GWJCGQVRS7JDNXPWXXAAVRTQL5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5/action/storage_attestation","attest_author":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5/action/author_attestation","sign_citation":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5/action/citation_signature","submit_replication":"https://pith.science/pith/GWJCGQVRS7JDNXPWXXAAVRTQL5/action/replication_record"}},"created_at":"2026-07-05T08:02:42.558018+00:00","updated_at":"2026-07-05T08:02:42.558018+00:00"}