{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KUS7TO7LMMWE7HS3WLYCUVWCXY","short_pith_number":"pith:KUS7TO7L","canonical_record":{"source":{"id":"2412.07826","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-10T18:58:06Z","cross_cats_sorted":[],"title_canon_sha256":"ab407c6e993bc1e70d921f67662c3ff06ea3e59ea42ab93fa2ede2e17db9717c","abstract_canon_sha256":"d79069fd96f5eb4d31484dfa38decf9973243ea04364ad0e39533f5c4b987537"},"schema_version":"1.0"},"canonical_sha256":"5525f9bbeb632c4f9e5bb2f02a56c2be0c6e1ddc4db61fd01d831247cfd73de5","source":{"kind":"arxiv","id":"2412.07826","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.07826","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"arxiv_version","alias_value":"2412.07826v1","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.07826","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_12","alias_value":"KUS7TO7LMMWE","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_16","alias_value":"KUS7TO7LMMWE7HS3","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_8","alias_value":"KUS7TO7L","created_at":"2026-07-05T09:47:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KUS7TO7LMMWE7HS3WLYCUVWCXY","target":"record","payload":{"canonical_record":{"source":{"id":"2412.07826","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-10T18:58:06Z","cross_cats_sorted":[],"title_canon_sha256":"ab407c6e993bc1e70d921f67662c3ff06ea3e59ea42ab93fa2ede2e17db9717c","abstract_canon_sha256":"d79069fd96f5eb4d31484dfa38decf9973243ea04364ad0e39533f5c4b987537"},"schema_version":"1.0"},"canonical_sha256":"5525f9bbeb632c4f9e5bb2f02a56c2be0c6e1ddc4db61fd01d831247cfd73de5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:47:39.820775Z","signature_b64":"XuUYomJkQH+p0Fw6iMXlqp567CwwbK5ijMaB6O/LTIK3iAgC1Ko1A3prPuoklPaiJeOM6bEyfSVKfCAVH1myCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5525f9bbeb632c4f9e5bb2f02a56c2be0c6e1ddc4db61fd01d831247cfd73de5","last_reissued_at":"2026-07-05T09:47:39.820261Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:47:39.820261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.07826","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":"2026-07-05T09:47:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uLEjQp1Cx/YIjBg9wx3k4G8P6+4KzbDBcovaGjB9IuhbTpeOHEuPhiOS4ELbldQQP1BtB3bJOzZVEDp165AgAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:02:09.799830Z"},"content_sha256":"ec413f91213412ce1247d1ad9b80462ade3a348a4107e91aa14759062b301625","schema_version":"1.0","event_id":"sha256:ec413f91213412ce1247d1ad9b80462ade3a348a4107e91aa14759062b301625"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KUS7TO7LMMWE7HS3WLYCUVWCXY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SALON: Self-supervised Adaptive Learning for Off-road Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cherie Ho, Isaiah Adu, Jeric Lew, Matthew Sivaprakasam, Samuel Triest, Sebastian Scherer, Shubhra Aich, Wenshan Wang","submitted_at":"2024-12-10T18:58:06Z","abstract_excerpt":"Autonomous robot navigation in off-road environments presents a number of challenges due to its lack of structure, making it difficult to handcraft robust heuristics for diverse scenarios. While learned methods using hand labels or self-supervised data improve generalizability, they often require a tremendous amount of data and can be vulnerable to domain shifts. To improve generalization in novel environments, recent works have incorporated adaptation and self-supervision to develop autonomous systems that can learn from their own experiences online. However, current works often rely on signi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.07826","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/2412.07826/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":"2026-07-05T09:47:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sf3QpToGWfZvYEaLhThYjqtzp9afbrxqIk5AyCTlPT8YahxKSEPNiuLlSGrW0zPDzYmz8q47hM40zwvK/u4ADQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:02:09.800204Z"},"content_sha256":"8c8d74823a0121a9b58eed8982035657c8ec772bb3a8bc9ffe041dcda8c4f890","schema_version":"1.0","event_id":"sha256:8c8d74823a0121a9b58eed8982035657c8ec772bb3a8bc9ffe041dcda8c4f890"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/bundle.json","state_url":"https://pith.science/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/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":"2026-07-06T19:02:09Z","links":{"resolver":"https://pith.science/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY","bundle":"https://pith.science/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/bundle.json","state":"https://pith.science/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KUS7TO7LMMWE7HS3WLYCUVWCXY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KUS7TO7LMMWE7HS3WLYCUVWCXY","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":"d79069fd96f5eb4d31484dfa38decf9973243ea04364ad0e39533f5c4b987537","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-10T18:58:06Z","title_canon_sha256":"ab407c6e993bc1e70d921f67662c3ff06ea3e59ea42ab93fa2ede2e17db9717c"},"schema_version":"1.0","source":{"id":"2412.07826","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.07826","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"arxiv_version","alias_value":"2412.07826v1","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.07826","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_12","alias_value":"KUS7TO7LMMWE","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_16","alias_value":"KUS7TO7LMMWE7HS3","created_at":"2026-07-05T09:47:39Z"},{"alias_kind":"pith_short_8","alias_value":"KUS7TO7L","created_at":"2026-07-05T09:47:39Z"}],"graph_snapshots":[{"event_id":"sha256:8c8d74823a0121a9b58eed8982035657c8ec772bb3a8bc9ffe041dcda8c4f890","target":"graph","created_at":"2026-07-05T09:47:39Z","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/2412.07826/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous robot navigation in off-road environments presents a number of challenges due to its lack of structure, making it difficult to handcraft robust heuristics for diverse scenarios. While learned methods using hand labels or self-supervised data improve generalizability, they often require a tremendous amount of data and can be vulnerable to domain shifts. To improve generalization in novel environments, recent works have incorporated adaptation and self-supervision to develop autonomous systems that can learn from their own experiences online. However, current works often rely on signi","authors_text":"Cherie Ho, Isaiah Adu, Jeric Lew, Matthew Sivaprakasam, Samuel Triest, Sebastian Scherer, Shubhra Aich, Wenshan Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-10T18:58:06Z","title":"SALON: Self-supervised Adaptive Learning for Off-road Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.07826","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:ec413f91213412ce1247d1ad9b80462ade3a348a4107e91aa14759062b301625","target":"record","created_at":"2026-07-05T09:47:39Z","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":"d79069fd96f5eb4d31484dfa38decf9973243ea04364ad0e39533f5c4b987537","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-10T18:58:06Z","title_canon_sha256":"ab407c6e993bc1e70d921f67662c3ff06ea3e59ea42ab93fa2ede2e17db9717c"},"schema_version":"1.0","source":{"id":"2412.07826","kind":"arxiv","version":1}},"canonical_sha256":"5525f9bbeb632c4f9e5bb2f02a56c2be0c6e1ddc4db61fd01d831247cfd73de5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5525f9bbeb632c4f9e5bb2f02a56c2be0c6e1ddc4db61fd01d831247cfd73de5","first_computed_at":"2026-07-05T09:47:39.820261Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:47:39.820261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XuUYomJkQH+p0Fw6iMXlqp567CwwbK5ijMaB6O/LTIK3iAgC1Ko1A3prPuoklPaiJeOM6bEyfSVKfCAVH1myCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:47:39.820775Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.07826","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ec413f91213412ce1247d1ad9b80462ade3a348a4107e91aa14759062b301625","sha256:8c8d74823a0121a9b58eed8982035657c8ec772bb3a8bc9ffe041dcda8c4f890"],"state_sha256":"4f53fe66b98f854aee55501662b4ce4532ee894a9873d649bec4e5f5c0acf4eb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kkl5B6UOCfbRSqUzU9KQzk+a0WjhZEn4/YoxGNDa1m63abxvypTZzkEp61H4MusVjKFL5cxPFFntMJ3yROpQAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:02:09.802142Z","bundle_sha256":"f77ea0501b3118c6285f47ca40862692e7d92988d42294387d1015b7af9920cb"}}