{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:IYAGIWVYO5NZFZFAC6PGYT4DDU","short_pith_number":"pith:IYAGIWVY","canonical_record":{"source":{"id":"2606.19675","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T00:59:11Z","cross_cats_sorted":[],"title_canon_sha256":"7b9311d8ab7bfb064bac809f60c69acf874a55a63a18f280af0c3aedeffc5292","abstract_canon_sha256":"59b9b18615e457b0082a0478548305e419f1a201fef6b3a0f9296a99849e20a0"},"schema_version":"1.0"},"canonical_sha256":"4600645ab8775b92e4a0179e6c4f831d340a0c70b42a475f0a357c346d191b64","source":{"kind":"arxiv","id":"2606.19675","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19675","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19675v1","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19675","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_12","alias_value":"IYAGIWVYO5NZ","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_16","alias_value":"IYAGIWVYO5NZFZFA","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_8","alias_value":"IYAGIWVY","created_at":"2026-06-19T16:12:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:IYAGIWVYO5NZFZFAC6PGYT4DDU","target":"record","payload":{"canonical_record":{"source":{"id":"2606.19675","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T00:59:11Z","cross_cats_sorted":[],"title_canon_sha256":"7b9311d8ab7bfb064bac809f60c69acf874a55a63a18f280af0c3aedeffc5292","abstract_canon_sha256":"59b9b18615e457b0082a0478548305e419f1a201fef6b3a0f9296a99849e20a0"},"schema_version":"1.0"},"canonical_sha256":"4600645ab8775b92e4a0179e6c4f831d340a0c70b42a475f0a357c346d191b64","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:31.944828Z","signature_b64":"6Sa7+6feKm6tIfEEd4lVumLss6DdhE1mlSMmq1ftyM83efUa3Z7F0PyVM2JHrnq529PC2Vv1UElCDjou2ebHCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4600645ab8775b92e4a0179e6c4f831d340a0c70b42a475f0a357c346d191b64","last_reissued_at":"2026-06-19T16:12:31.944431Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:31.944431Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.19675","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":"2026-06-19T16:12:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V+rNPed/Ai/Ie7lEMPp2KYW+svcrPd/+F2Kv5BXLwoyJCmgpLl6FUfacnX3RI7CBp+mp3arJ5y+dnnr8gHL3DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T23:37:07.647402Z"},"content_sha256":"fea0e0362c13377404999cbb2b85e35b4f1863d7cfcdf12c64dce4c3d047c9a5","schema_version":"1.0","event_id":"sha256:fea0e0362c13377404999cbb2b85e35b4f1863d7cfcdf12c64dce4c3d047c9a5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:IYAGIWVYO5NZFZFAC6PGYT4DDU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Danesh Tarapore, Natapat Kirdwichai","submitted_at":"2026-06-18T00:59:11Z","abstract_excerpt":"Legged robots are increasingly deployed in forests for ecological surveying and monitoring, yet their autonomy is often interrupted consequent to the challenges posed in traversing forest environments. Forest entrapments, for example, when a robot's legs are ensnared in vines or other vegetation, result in loss of stability and toppling. Such events not only disrupt the mission and require manual intervention, but also risk damage to the robot hardware. To address the absence of a dedicated dataset to investigate these failure modes in forest environments, we present ForEnt, a multi-modal data"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19675","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/2606.19675/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":"2026-06-19T16:12:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AYNdwRvJVi89V0VueqR1ZkLscJQXreMGMwTcMLpDOEm0U4s0OhIoq7vRs5fueO6ZLAKfh3uU18UJDIPVGUaPBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T23:37:07.648276Z"},"content_sha256":"bc1bcd26cb1d7a03123d1293bae30d8bb5da65e50c65bf329e113e26682432e3","schema_version":"1.0","event_id":"sha256:bc1bcd26cb1d7a03123d1293bae30d8bb5da65e50c65bf329e113e26682432e3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/bundle.json","state_url":"https://pith.science/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/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":"2026-08-22T23:37:07Z","links":{"resolver":"https://pith.science/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU","bundle":"https://pith.science/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/bundle.json","state":"https://pith.science/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IYAGIWVYO5NZFZFAC6PGYT4DDU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:IYAGIWVYO5NZFZFAC6PGYT4DDU","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":"59b9b18615e457b0082a0478548305e419f1a201fef6b3a0f9296a99849e20a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T00:59:11Z","title_canon_sha256":"7b9311d8ab7bfb064bac809f60c69acf874a55a63a18f280af0c3aedeffc5292"},"schema_version":"1.0","source":{"id":"2606.19675","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19675","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19675v1","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19675","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_12","alias_value":"IYAGIWVYO5NZ","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_16","alias_value":"IYAGIWVYO5NZFZFA","created_at":"2026-06-19T16:12:31Z"},{"alias_kind":"pith_short_8","alias_value":"IYAGIWVY","created_at":"2026-06-19T16:12:31Z"}],"graph_snapshots":[{"event_id":"sha256:bc1bcd26cb1d7a03123d1293bae30d8bb5da65e50c65bf329e113e26682432e3","target":"graph","created_at":"2026-06-19T16:12:31Z","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/2606.19675/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Legged robots are increasingly deployed in forests for ecological surveying and monitoring, yet their autonomy is often interrupted consequent to the challenges posed in traversing forest environments. Forest entrapments, for example, when a robot's legs are ensnared in vines or other vegetation, result in loss of stability and toppling. Such events not only disrupt the mission and require manual intervention, but also risk damage to the robot hardware. To address the absence of a dedicated dataset to investigate these failure modes in forest environments, we present ForEnt, a multi-modal data","authors_text":"Danesh Tarapore, Natapat Kirdwichai","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T00:59:11Z","title":"ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19675","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:fea0e0362c13377404999cbb2b85e35b4f1863d7cfcdf12c64dce4c3d047c9a5","target":"record","created_at":"2026-06-19T16:12:31Z","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":"59b9b18615e457b0082a0478548305e419f1a201fef6b3a0f9296a99849e20a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T00:59:11Z","title_canon_sha256":"7b9311d8ab7bfb064bac809f60c69acf874a55a63a18f280af0c3aedeffc5292"},"schema_version":"1.0","source":{"id":"2606.19675","kind":"arxiv","version":1}},"canonical_sha256":"4600645ab8775b92e4a0179e6c4f831d340a0c70b42a475f0a357c346d191b64","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4600645ab8775b92e4a0179e6c4f831d340a0c70b42a475f0a357c346d191b64","first_computed_at":"2026-06-19T16:12:31.944431Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:12:31.944431Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6Sa7+6feKm6tIfEEd4lVumLss6DdhE1mlSMmq1ftyM83efUa3Z7F0PyVM2JHrnq529PC2Vv1UElCDjou2ebHCA==","signature_status":"signed_v1","signed_at":"2026-06-19T16:12:31.944828Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.19675","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fea0e0362c13377404999cbb2b85e35b4f1863d7cfcdf12c64dce4c3d047c9a5","sha256:bc1bcd26cb1d7a03123d1293bae30d8bb5da65e50c65bf329e113e26682432e3"],"state_sha256":"0bf41f31fc036b10def942ff2ced423dad345fb2a4b70a7dc3367dc2079f9f44"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ivhYkPRhid4pPmd86WpcVaY1cjJOLx+1La+8NwVq0y1NSnIhXh2Ln0MJCBspHjr5se3XaUQwUbWN24DwCfb+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T23:37:07.654060Z","bundle_sha256":"20bd1af9cb1567830a1b07cceb0246b528c373c21c8964b1d58d7c210708c7ba"}}