{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:H6QA6DIFSZVOIHNZ2IJGUS4S3R","short_pith_number":"pith:H6QA6DIF","canonical_record":{"source":{"id":"2302.13230","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-02-26T03:56:54Z","cross_cats_sorted":[],"title_canon_sha256":"e672b26bb8aa1e7b4e0dc40c37d5b3578693a8f8957be2cce543f8311768fdf9","abstract_canon_sha256":"2fec96f55a1bba742b51970f5b8577811273d13aa715511a6a35aa41fcea6d11"},"schema_version":"1.0"},"canonical_sha256":"3fa00f0d05966ae41db9d2126a4b92dc798722daa8fb737f386297cccbbd4556","source":{"kind":"arxiv","id":"2302.13230","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.13230","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"arxiv_version","alias_value":"2302.13230v1","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.13230","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_12","alias_value":"H6QA6DIFSZVO","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_16","alias_value":"H6QA6DIFSZVOIHNZ","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_8","alias_value":"H6QA6DIF","created_at":"2026-07-05T05:45:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:H6QA6DIFSZVOIHNZ2IJGUS4S3R","target":"record","payload":{"canonical_record":{"source":{"id":"2302.13230","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-02-26T03:56:54Z","cross_cats_sorted":[],"title_canon_sha256":"e672b26bb8aa1e7b4e0dc40c37d5b3578693a8f8957be2cce543f8311768fdf9","abstract_canon_sha256":"2fec96f55a1bba742b51970f5b8577811273d13aa715511a6a35aa41fcea6d11"},"schema_version":"1.0"},"canonical_sha256":"3fa00f0d05966ae41db9d2126a4b92dc798722daa8fb737f386297cccbbd4556","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:45:44.652099Z","signature_b64":"v7DPTFRfGmCp2ZRHiowEnEmfiDJmr74NRUBzeYHgxyOHOWS6d4jZj04suU3f12wN52rT96xar3OwIS1NMLHjAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3fa00f0d05966ae41db9d2126a4b92dc798722daa8fb737f386297cccbbd4556","last_reissued_at":"2026-07-05T05:45:44.651715Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:45:44.651715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.13230","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":"2026-07-05T05:45:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IioQNOwqhGQx7f/z2rYqe6ZkeyNv0v6ZbflcwCCpvrj1wTzxGGqwWK9UvaKZqP52rC2rcKJrmD5kvDEnhFHVAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T05:34:52.673674Z"},"content_sha256":"ef1073c412d277b687459c4d436f2cf736a223d23c3d8d6ca0584cc714a1f423","schema_version":"1.0","event_id":"sha256:ef1073c412d277b687459c4d436f2cf736a223d23c3d8d6ca0584cc714a1f423"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:H6QA6DIFSZVOIHNZ2IJGUS4S3R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alex Pitt, Benjamin Tam, Brendan Tidd, Brett Wood, Corey Medek, Dean Penfold, Dennis Frousheger, Duncan Palmer, Farid Kendoul, Fletcher Talbot, Gavin Catt, Glenn Wagner, Jack Manderson, Jason Williams, Kasra Khosoussi, Katrina Lo Surdo, Kazys Stepanas, Lachlan Tychsen-Smith, Lauren Hanson, Leslie Overs, Mark Cox, Matthew O'Brien, Matt Wildie, Milad Ramezani, Navinda Kottege, Ronald C. Arkin, Ryan Steindl, Shengkang Chen, Thomas Hines, Thomas Molnar","submitted_at":"2023-02-26T03:56:54Z","abstract_excerpt":"The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and natural caves, each of these subdomains had many challenging elements for robot perception, locomotion, navigation and autonomy. These included degraded wireless communication, poor visibility due to smoke, narrow passages and doorways, clutter, uneven ground, slippery and loose terrain, stairs, ledges, overhangs, dripping water, and dynamic obstacles that "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.13230","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/2302.13230/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":"2026-07-05T05:45:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3OqHu0K0O/6YF/mKUm19zUEEJ0o8b1JQaV+gTG5q6DjGdMXy/vuOjLxAWutY7BoVxsA+wtpUMSjqd0UA/NbADA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T05:34:52.674459Z"},"content_sha256":"a338c662ce867bf765bdcdac0c5475ded8b0e99727288bf7c03d725b2fbcd0a0","schema_version":"1.0","event_id":"sha256:a338c662ce867bf765bdcdac0c5475ded8b0e99727288bf7c03d725b2fbcd0a0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/bundle.json","state_url":"https://pith.science/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/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":"2026-08-11T05:34:52Z","links":{"resolver":"https://pith.science/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R","bundle":"https://pith.science/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/bundle.json","state":"https://pith.science/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H6QA6DIFSZVOIHNZ2IJGUS4S3R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:H6QA6DIFSZVOIHNZ2IJGUS4S3R","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":"2fec96f55a1bba742b51970f5b8577811273d13aa715511a6a35aa41fcea6d11","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-02-26T03:56:54Z","title_canon_sha256":"e672b26bb8aa1e7b4e0dc40c37d5b3578693a8f8957be2cce543f8311768fdf9"},"schema_version":"1.0","source":{"id":"2302.13230","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.13230","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"arxiv_version","alias_value":"2302.13230v1","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.13230","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_12","alias_value":"H6QA6DIFSZVO","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_16","alias_value":"H6QA6DIFSZVOIHNZ","created_at":"2026-07-05T05:45:44Z"},{"alias_kind":"pith_short_8","alias_value":"H6QA6DIF","created_at":"2026-07-05T05:45:44Z"}],"graph_snapshots":[{"event_id":"sha256:a338c662ce867bf765bdcdac0c5475ded8b0e99727288bf7c03d725b2fbcd0a0","target":"graph","created_at":"2026-07-05T05:45:44Z","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/2302.13230/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and natural caves, each of these subdomains had many challenging elements for robot perception, locomotion, navigation and autonomy. These included degraded wireless communication, poor visibility due to smoke, narrow passages and doorways, clutter, uneven ground, slippery and loose terrain, stairs, ledges, overhangs, dripping water, and dynamic obstacles that ","authors_text":"Alex Pitt, Benjamin Tam, Brendan Tidd, Brett Wood, Corey Medek, Dean Penfold, Dennis Frousheger, Duncan Palmer, Farid Kendoul, Fletcher Talbot, Gavin Catt, Glenn Wagner, Jack Manderson, Jason Williams, Kasra Khosoussi, Katrina Lo Surdo, Kazys Stepanas, Lachlan Tychsen-Smith, Lauren Hanson, Leslie Overs, Mark Cox, Matthew O'Brien, Matt Wildie, Milad Ramezani, Navinda Kottege, Ronald C. Arkin, Ryan Steindl, Shengkang Chen, Thomas Hines, Thomas Molnar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-02-26T03:56:54Z","title":"Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.13230","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:ef1073c412d277b687459c4d436f2cf736a223d23c3d8d6ca0584cc714a1f423","target":"record","created_at":"2026-07-05T05:45:44Z","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":"2fec96f55a1bba742b51970f5b8577811273d13aa715511a6a35aa41fcea6d11","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-02-26T03:56:54Z","title_canon_sha256":"e672b26bb8aa1e7b4e0dc40c37d5b3578693a8f8957be2cce543f8311768fdf9"},"schema_version":"1.0","source":{"id":"2302.13230","kind":"arxiv","version":1}},"canonical_sha256":"3fa00f0d05966ae41db9d2126a4b92dc798722daa8fb737f386297cccbbd4556","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3fa00f0d05966ae41db9d2126a4b92dc798722daa8fb737f386297cccbbd4556","first_computed_at":"2026-07-05T05:45:44.651715Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:45:44.651715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v7DPTFRfGmCp2ZRHiowEnEmfiDJmr74NRUBzeYHgxyOHOWS6d4jZj04suU3f12wN52rT96xar3OwIS1NMLHjAg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:45:44.652099Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.13230","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ef1073c412d277b687459c4d436f2cf736a223d23c3d8d6ca0584cc714a1f423","sha256:a338c662ce867bf765bdcdac0c5475ded8b0e99727288bf7c03d725b2fbcd0a0"],"state_sha256":"684a07d670aae9ef06468c9480eaae84974ad27dbe1f4584713f19449e20b812"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p7Qx4/WNEtVruJDnRmc0Id+ehuQLxGCqYA1iv26EPqeo2DsDZoLFAR3N26ftky7AthdRTu41/W6MdtpabIJJDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T05:34:52.680725Z","bundle_sha256":"50a0a4d4b05066e75c634b2335e30def70f99fe55a8a2a5aa54168d97c0a1d5b"}}