{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:JE3YTLWAJS4BDVLYUAL7ZA3HGS","short_pith_number":"pith:JE3YTLWA","canonical_record":{"source":{"id":"2003.05654","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-12T08:06:06Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"2a0b711ee362a627ed123a163762e200fc574d64246803a9a6c9159f0a132df2","abstract_canon_sha256":"f1391b16a4538d5a16bdc0b224e701c82c1cfbd18790a71ae5b191b7e99f3394"},"schema_version":"1.0"},"canonical_sha256":"493789aec04cb811d578a017fc8367349d814185246867caa210e597dba41093","source":{"kind":"arxiv","id":"2003.05654","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.05654","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"arxiv_version","alias_value":"2003.05654v1","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.05654","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_12","alias_value":"JE3YTLWAJS4B","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_16","alias_value":"JE3YTLWAJS4BDVLY","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_8","alias_value":"JE3YTLWA","created_at":"2026-07-05T00:47:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:JE3YTLWAJS4BDVLYUAL7ZA3HGS","target":"record","payload":{"canonical_record":{"source":{"id":"2003.05654","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-12T08:06:06Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"2a0b711ee362a627ed123a163762e200fc574d64246803a9a6c9159f0a132df2","abstract_canon_sha256":"f1391b16a4538d5a16bdc0b224e701c82c1cfbd18790a71ae5b191b7e99f3394"},"schema_version":"1.0"},"canonical_sha256":"493789aec04cb811d578a017fc8367349d814185246867caa210e597dba41093","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:47:32.786871Z","signature_b64":"qqhkR0mlcI7+vJZYlrDflEQDKPWtG3rahcsqRqTe7Od/5X9782Z+YJag8MrHvAglIKPo47uqNwY4I52MuVF4Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"493789aec04cb811d578a017fc8367349d814185246867caa210e597dba41093","last_reissued_at":"2026-07-05T00:47:32.786406Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:47:32.786406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.05654","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":"2026-07-05T00:47:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"INcYu1zTYydXrd04fmMnQ4AavOAR/hYdytrzAWptfAznAVs6jKEgLdLxWl97qRCffhYVj473GQ4Ya71UCInwCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T18:37:40.587753Z"},"content_sha256":"92e968d2b802f6ea1471874db7e0679d6ffb0124333608bb0293dd4a7ce01f80","schema_version":"1.0","event_id":"sha256:92e968d2b802f6ea1471874db7e0679d6ffb0124333608bb0293dd4a7ce01f80"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:JE3YTLWAJS4BDVLYUAL7ZA3HGS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AirSim Drone Racing Lab","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ashish Kapoor, Davide Scaramuzza, Eric Cristofalo, Keiko Nagami, Mac Schwager, Matthew Brown, Nicholas Gyde, Ratnesh Madaan, Sai Vemprala, Tim Taubner","submitted_at":"2020-03-12T08:06:06Z","abstract_excerpt":"Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of algorithms for autonomy and enabling machine learning research in this domain, with the goal of reducing the time, money, and risks associated with field robotics. Our framework enables generation of racing tracks in multiple photo-realistic environments, orchestration of drone races, comes with a suite of gate assets, allows for multiple sensor modalities (monocul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.05654","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/2003.05654/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":"2026-07-05T00:47:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cTAyJLVZk9TH9+eA3/QuQ0rELBvHcsuyR8+pkW7pdnrecKCttkP+79fhCZ79vRz5CaZTLAlQWJU/FTqrDOoABw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T18:37:40.588125Z"},"content_sha256":"98aaf40ed78b9944d9c3a0b23da072cc1e10dde6272e95b53145f3c66d3bd556","schema_version":"1.0","event_id":"sha256:98aaf40ed78b9944d9c3a0b23da072cc1e10dde6272e95b53145f3c66d3bd556"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/bundle.json","state_url":"https://pith.science/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/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":"2026-07-12T18:37:40Z","links":{"resolver":"https://pith.science/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS","bundle":"https://pith.science/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/bundle.json","state":"https://pith.science/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JE3YTLWAJS4BDVLYUAL7ZA3HGS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:JE3YTLWAJS4BDVLYUAL7ZA3HGS","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":"f1391b16a4538d5a16bdc0b224e701c82c1cfbd18790a71ae5b191b7e99f3394","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-12T08:06:06Z","title_canon_sha256":"2a0b711ee362a627ed123a163762e200fc574d64246803a9a6c9159f0a132df2"},"schema_version":"1.0","source":{"id":"2003.05654","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.05654","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"arxiv_version","alias_value":"2003.05654v1","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.05654","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_12","alias_value":"JE3YTLWAJS4B","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_16","alias_value":"JE3YTLWAJS4BDVLY","created_at":"2026-07-05T00:47:32Z"},{"alias_kind":"pith_short_8","alias_value":"JE3YTLWA","created_at":"2026-07-05T00:47:32Z"}],"graph_snapshots":[{"event_id":"sha256:98aaf40ed78b9944d9c3a0b23da072cc1e10dde6272e95b53145f3c66d3bd556","target":"graph","created_at":"2026-07-05T00:47:32Z","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/2003.05654/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of algorithms for autonomy and enabling machine learning research in this domain, with the goal of reducing the time, money, and risks associated with field robotics. Our framework enables generation of racing tracks in multiple photo-realistic environments, orchestration of drone races, comes with a suite of gate assets, allows for multiple sensor modalities (monocul","authors_text":"Ashish Kapoor, Davide Scaramuzza, Eric Cristofalo, Keiko Nagami, Mac Schwager, Matthew Brown, Nicholas Gyde, Ratnesh Madaan, Sai Vemprala, Tim Taubner","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-12T08:06:06Z","title":"AirSim Drone Racing Lab"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.05654","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":"sha256:92e968d2b802f6ea1471874db7e0679d6ffb0124333608bb0293dd4a7ce01f80","target":"record","created_at":"2026-07-05T00:47:32Z","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":"f1391b16a4538d5a16bdc0b224e701c82c1cfbd18790a71ae5b191b7e99f3394","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-12T08:06:06Z","title_canon_sha256":"2a0b711ee362a627ed123a163762e200fc574d64246803a9a6c9159f0a132df2"},"schema_version":"1.0","source":{"id":"2003.05654","kind":"arxiv","version":1}},"canonical_sha256":"493789aec04cb811d578a017fc8367349d814185246867caa210e597dba41093","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"493789aec04cb811d578a017fc8367349d814185246867caa210e597dba41093","first_computed_at":"2026-07-05T00:47:32.786406Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:47:32.786406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qqhkR0mlcI7+vJZYlrDflEQDKPWtG3rahcsqRqTe7Od/5X9782Z+YJag8MrHvAglIKPo47uqNwY4I52MuVF4Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T00:47:32.786871Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.05654","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:92e968d2b802f6ea1471874db7e0679d6ffb0124333608bb0293dd4a7ce01f80","sha256:98aaf40ed78b9944d9c3a0b23da072cc1e10dde6272e95b53145f3c66d3bd556"],"state_sha256":"fc2f5b5f23e3c262686f0e9b7d4b218739f0614578602806cf28bade174b7081"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G2z/6+KGxNA5vHcWpQQZM9G5Dblv9Jdw9WYo83U3HE+MAwDHovE6xHpIkAgrAQIe5Y3JE052EeVekuw65dLdBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T18:37:40.590190Z","bundle_sha256":"591fadfb3f2df596143bb911d1e02cc59655d549aea42dea722cd77e98d06dcf"}}