{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:KINKOVTPKYCXNVCHOB4B624RDX","short_pith_number":"pith:KINKOVTP","canonical_record":{"source":{"id":"2504.19653","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T10:13:38Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"f6371f20f7effc4031e9217aca74a21976d9dcb779c5c7734f08c2758484e4ae","abstract_canon_sha256":"da5465740b1bd74e7bea73b69bddf75b6a486800bae8eafad4e50993e1b09b14"},"schema_version":"1.0"},"canonical_sha256":"521aa7566f560576d44770781f6b911df97fc4760abba9536f1f26d2718a6db6","source":{"kind":"arxiv","id":"2504.19653","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.19653","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"arxiv_version","alias_value":"2504.19653v1","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.19653","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_12","alias_value":"KINKOVTPKYCX","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_16","alias_value":"KINKOVTPKYCXNVCH","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_8","alias_value":"KINKOVTP","created_at":"2026-07-05T10:55:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:KINKOVTPKYCXNVCHOB4B624RDX","target":"record","payload":{"canonical_record":{"source":{"id":"2504.19653","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T10:13:38Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"f6371f20f7effc4031e9217aca74a21976d9dcb779c5c7734f08c2758484e4ae","abstract_canon_sha256":"da5465740b1bd74e7bea73b69bddf75b6a486800bae8eafad4e50993e1b09b14"},"schema_version":"1.0"},"canonical_sha256":"521aa7566f560576d44770781f6b911df97fc4760abba9536f1f26d2718a6db6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:55:00.943965Z","signature_b64":"qqhQvtzBEIku2tvxQJG/CS8zyNNSv8l0vCKHn1S2wnrejwjgeQvhr5jhrdVjxNr0RvswuQP7k8Qub/V++lMgCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"521aa7566f560576d44770781f6b911df97fc4760abba9536f1f26d2718a6db6","last_reissued_at":"2026-07-05T10:55:00.943501Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:55:00.943501Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.19653","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":"2026-07-05T10:55:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AuR3Z5BxXh4Q3UAWUtFuFqJSCp3W7Xe4v4yNdKLB4Zkzd+AzfSB8gPUGqB5Yhn3pmRflnJJntfJ60oDd7UV+CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T00:43:31.938604Z"},"content_sha256":"5e4c8b9369e92eabeb02a83e96bd52f18192195251cdcd25c67f7d8fc760104c","schema_version":"1.0","event_id":"sha256:5e4c8b9369e92eabeb02a83e96bd52f18192195251cdcd25c67f7d8fc760104c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:KINKOVTPKYCXNVCHOB4B624RDX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GAN-SLAM: Real-Time GAN Aided Floor Plan Creation Through SLAM","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Baihua Li, Leon Davies, Mohamad Saada, Qinggang Meng, Simon S{\\o}lvsten","submitted_at":"2025-04-28T10:13:38Z","abstract_excerpt":"SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion, leading to inaccuracies in mapping quality, particularly in 2D representations such as Occupancy Grid Maps. These errors can significantly degrade map quality, hindering the effectiveness of specific downstream tasks such as floor plan creation. To address this challenge, we introduce our novel 'GAN-SLAM', a new SLAM approach that leverages Generative Adversarial "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.19653","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/2504.19653/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":"2026-07-05T10:55:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8JEYPrmAhs6slnJmEDtlxyHfwpOxvKQrNQRFRfNm/2vWnNVcKAqfHaPELtRxyyh72TomSw8yO3V7ER/9Jv8UBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T00:43:31.939144Z"},"content_sha256":"046cdbdb25edc9da60357b7fde3517639352b5fa955b46ef14bc3436a6a0109f","schema_version":"1.0","event_id":"sha256:046cdbdb25edc9da60357b7fde3517639352b5fa955b46ef14bc3436a6a0109f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KINKOVTPKYCXNVCHOB4B624RDX/bundle.json","state_url":"https://pith.science/pith/KINKOVTPKYCXNVCHOB4B624RDX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KINKOVTPKYCXNVCHOB4B624RDX/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":"2026-08-22T00:43:31Z","links":{"resolver":"https://pith.science/pith/KINKOVTPKYCXNVCHOB4B624RDX","bundle":"https://pith.science/pith/KINKOVTPKYCXNVCHOB4B624RDX/bundle.json","state":"https://pith.science/pith/KINKOVTPKYCXNVCHOB4B624RDX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KINKOVTPKYCXNVCHOB4B624RDX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:KINKOVTPKYCXNVCHOB4B624RDX","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":"da5465740b1bd74e7bea73b69bddf75b6a486800bae8eafad4e50993e1b09b14","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T10:13:38Z","title_canon_sha256":"f6371f20f7effc4031e9217aca74a21976d9dcb779c5c7734f08c2758484e4ae"},"schema_version":"1.0","source":{"id":"2504.19653","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.19653","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"arxiv_version","alias_value":"2504.19653v1","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.19653","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_12","alias_value":"KINKOVTPKYCX","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_16","alias_value":"KINKOVTPKYCXNVCH","created_at":"2026-07-05T10:55:00Z"},{"alias_kind":"pith_short_8","alias_value":"KINKOVTP","created_at":"2026-07-05T10:55:00Z"}],"graph_snapshots":[{"event_id":"sha256:046cdbdb25edc9da60357b7fde3517639352b5fa955b46ef14bc3436a6a0109f","target":"graph","created_at":"2026-07-05T10:55:00Z","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/2504.19653/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion, leading to inaccuracies in mapping quality, particularly in 2D representations such as Occupancy Grid Maps. These errors can significantly degrade map quality, hindering the effectiveness of specific downstream tasks such as floor plan creation. To address this challenge, we introduce our novel 'GAN-SLAM', a new SLAM approach that leverages Generative Adversarial ","authors_text":"Baihua Li, Leon Davies, Mohamad Saada, Qinggang Meng, Simon S{\\o}lvsten","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T10:13:38Z","title":"GAN-SLAM: Real-Time GAN Aided Floor Plan Creation Through SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.19653","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":"sha256:5e4c8b9369e92eabeb02a83e96bd52f18192195251cdcd25c67f7d8fc760104c","target":"record","created_at":"2026-07-05T10:55:00Z","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":"da5465740b1bd74e7bea73b69bddf75b6a486800bae8eafad4e50993e1b09b14","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T10:13:38Z","title_canon_sha256":"f6371f20f7effc4031e9217aca74a21976d9dcb779c5c7734f08c2758484e4ae"},"schema_version":"1.0","source":{"id":"2504.19653","kind":"arxiv","version":1}},"canonical_sha256":"521aa7566f560576d44770781f6b911df97fc4760abba9536f1f26d2718a6db6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"521aa7566f560576d44770781f6b911df97fc4760abba9536f1f26d2718a6db6","first_computed_at":"2026-07-05T10:55:00.943501Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:55:00.943501Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qqhQvtzBEIku2tvxQJG/CS8zyNNSv8l0vCKHn1S2wnrejwjgeQvhr5jhrdVjxNr0RvswuQP7k8Qub/V++lMgCA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:55:00.943965Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.19653","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5e4c8b9369e92eabeb02a83e96bd52f18192195251cdcd25c67f7d8fc760104c","sha256:046cdbdb25edc9da60357b7fde3517639352b5fa955b46ef14bc3436a6a0109f"],"state_sha256":"6d1ef84a51d65e61455f6f24eac2a5787a4a0cce2a468bb7127b63bf6511b01a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"za7vaL761zMgJ2wQiRDxaIu8e1hxGJ6w4O+lbjONhb0dCm/NE4DsMp9twVM/b/7yjVxkkrwN+ljXV5l0QfjsAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T00:43:31.944095Z","bundle_sha256":"325258ec9401bac5e325b443b40128bf01d21ce418874d5de1a1bf394a585f50"}}