{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:JUKR75SYT5QLSZ2QCWQMLACAO7","short_pith_number":"pith:JUKR75SY","canonical_record":{"source":{"id":"2606.04569","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:59:40Z","cross_cats_sorted":[],"title_canon_sha256":"f26b89f054295f624240a5753318772f0c0e3395785d8f39e75bf38c3a33659a","abstract_canon_sha256":"6ab91fd5e047653b4234dfddff88e881980bd76c6aa7ec2a26960d1de36f8c33"},"schema_version":"1.0"},"canonical_sha256":"4d151ff6589f60b9675015a0c5804077e8876b7521c5ca2936a777e680698cce","source":{"kind":"arxiv","id":"2606.04569","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04569","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04569v1","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04569","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_12","alias_value":"JUKR75SYT5QL","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_16","alias_value":"JUKR75SYT5QLSZ2Q","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_8","alias_value":"JUKR75SY","created_at":"2026-06-04T01:09:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:JUKR75SYT5QLSZ2QCWQMLACAO7","target":"record","payload":{"canonical_record":{"source":{"id":"2606.04569","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:59:40Z","cross_cats_sorted":[],"title_canon_sha256":"f26b89f054295f624240a5753318772f0c0e3395785d8f39e75bf38c3a33659a","abstract_canon_sha256":"6ab91fd5e047653b4234dfddff88e881980bd76c6aa7ec2a26960d1de36f8c33"},"schema_version":"1.0"},"canonical_sha256":"4d151ff6589f60b9675015a0c5804077e8876b7521c5ca2936a777e680698cce","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:09:18.586917Z","signature_b64":"GOaSq+AbZOirxc2QERZpzscuEZKXgZKzsd/zBHO+s/pC1l+GXBjBZalTutDdlR6zxce3Owv80D2xrMm8KlAvBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4d151ff6589f60b9675015a0c5804077e8876b7521c5ca2936a777e680698cce","last_reissued_at":"2026-06-04T01:09:18.586041Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:09:18.586041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.04569","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":"2026-06-04T01:09:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"932MNtZjJd+3ZjYyFOX0j8YUu7aMjDCnbr8rUnoPMySrmjZk+951ycIqpMsfksH/UNPAE961HQ6czvpTEsJKDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T09:30:02.549704Z"},"content_sha256":"9479030d16aa8bc56e2e0c1d403b934807a2e243662b285bb050367a63a98893","schema_version":"1.0","event_id":"sha256:9479030d16aa8bc56e2e0c1d403b934807a2e243662b285bb050367a63a98893"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:JUKR75SYT5QLSZ2QCWQMLACAO7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MineXplore: An Open-Source Reinforcement Learning Exploration Benchmark for GNSS-Denied Underground Environment","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhishek S, Badrikanath Praharaj, Sreeram MV","submitted_at":"2026-06-03T07:59:40Z","abstract_excerpt":"Underground mines present extreme conditions for autonomous robot navigation: GPS is denied, lighting is degraded, and tunnel topology is loop-rich and non-convex. Simulation benchmarks grounded in real production-mine geometry and compatible with GPU-accelerated learning pipelines do not yet exist in the open-source ecosystem. We present MineXplore, an open-source MuJoCo-based navigation benchmark derived from the Leung et al. 2017 Chilean underground copper mine dataset. The environment reconstructs a 104,423 sq.m tunnel network through an six-stage contour-to-MJCF pipeline incorporating oct"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04569","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/2606.04569/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":"2026-06-04T01:09:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7r/hUReKJLRlCXdVtfg0ZVjeUbiA3YX3uKCY1mTnXUY/ZvIOoVXKcaUci/HyZwq8iljChFRZgnzHib4EORtgBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T09:30:02.550067Z"},"content_sha256":"62f619ad2060d20b6373c402bcf1719d4d6360f504bd971251c1370409075ff0","schema_version":"1.0","event_id":"sha256:62f619ad2060d20b6373c402bcf1719d4d6360f504bd971251c1370409075ff0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/bundle.json","state_url":"https://pith.science/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/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":"2026-07-03T09:30:02Z","links":{"resolver":"https://pith.science/pith/JUKR75SYT5QLSZ2QCWQMLACAO7","bundle":"https://pith.science/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/bundle.json","state":"https://pith.science/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JUKR75SYT5QLSZ2QCWQMLACAO7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:JUKR75SYT5QLSZ2QCWQMLACAO7","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":"6ab91fd5e047653b4234dfddff88e881980bd76c6aa7ec2a26960d1de36f8c33","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:59:40Z","title_canon_sha256":"f26b89f054295f624240a5753318772f0c0e3395785d8f39e75bf38c3a33659a"},"schema_version":"1.0","source":{"id":"2606.04569","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04569","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04569v1","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04569","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_12","alias_value":"JUKR75SYT5QL","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_16","alias_value":"JUKR75SYT5QLSZ2Q","created_at":"2026-06-04T01:09:18Z"},{"alias_kind":"pith_short_8","alias_value":"JUKR75SY","created_at":"2026-06-04T01:09:18Z"}],"graph_snapshots":[{"event_id":"sha256:62f619ad2060d20b6373c402bcf1719d4d6360f504bd971251c1370409075ff0","target":"graph","created_at":"2026-06-04T01:09:18Z","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/2606.04569/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Underground mines present extreme conditions for autonomous robot navigation: GPS is denied, lighting is degraded, and tunnel topology is loop-rich and non-convex. Simulation benchmarks grounded in real production-mine geometry and compatible with GPU-accelerated learning pipelines do not yet exist in the open-source ecosystem. We present MineXplore, an open-source MuJoCo-based navigation benchmark derived from the Leung et al. 2017 Chilean underground copper mine dataset. The environment reconstructs a 104,423 sq.m tunnel network through an six-stage contour-to-MJCF pipeline incorporating oct","authors_text":"Abhishek S, Badrikanath Praharaj, Sreeram MV","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:59:40Z","title":"MineXplore: An Open-Source Reinforcement Learning Exploration Benchmark for GNSS-Denied Underground Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04569","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":"sha256:9479030d16aa8bc56e2e0c1d403b934807a2e243662b285bb050367a63a98893","target":"record","created_at":"2026-06-04T01:09:18Z","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":"6ab91fd5e047653b4234dfddff88e881980bd76c6aa7ec2a26960d1de36f8c33","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:59:40Z","title_canon_sha256":"f26b89f054295f624240a5753318772f0c0e3395785d8f39e75bf38c3a33659a"},"schema_version":"1.0","source":{"id":"2606.04569","kind":"arxiv","version":1}},"canonical_sha256":"4d151ff6589f60b9675015a0c5804077e8876b7521c5ca2936a777e680698cce","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4d151ff6589f60b9675015a0c5804077e8876b7521c5ca2936a777e680698cce","first_computed_at":"2026-06-04T01:09:18.586041Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:09:18.586041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GOaSq+AbZOirxc2QERZpzscuEZKXgZKzsd/zBHO+s/pC1l+GXBjBZalTutDdlR6zxce3Owv80D2xrMm8KlAvBg==","signature_status":"signed_v1","signed_at":"2026-06-04T01:09:18.586917Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.04569","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9479030d16aa8bc56e2e0c1d403b934807a2e243662b285bb050367a63a98893","sha256:62f619ad2060d20b6373c402bcf1719d4d6360f504bd971251c1370409075ff0"],"state_sha256":"9e343cb9a39942c504234d1f6219caf1e320a02a82fc309633b2869677be10e8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IA7IsO3lHCWHV3cSIFRiiRLUqyo39QI2Mxh/zZ2T2AhbPpPI0N+Ok4VxHpfCPyAYe8j4S0gjjmos8RRUOVUOAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T09:30:02.551991Z","bundle_sha256":"572c8e86b7fcd16cefdeea8e369f33a78ae486836ee66d6f45d8b73f19d9f4c9"}}