{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:LL2SIVJH7WREYE2VAWPK46RMGO","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":"fd115ea34d30569cd11f1be2fd145c4a908a595cbd5a00c612b6761a7a9359a8","cross_cats_sorted":["eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-10T11:57:46Z","title_canon_sha256":"b9bb130d16434fd17930d877d4b20cc89538d136dba338e67a4c76c0b402d89b"},"schema_version":"1.0","source":{"id":"2607.09319","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.09319","created_at":"2026-07-13T01:19:01Z"},{"alias_kind":"arxiv_version","alias_value":"2607.09319v1","created_at":"2026-07-13T01:19:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.09319","created_at":"2026-07-13T01:19:01Z"},{"alias_kind":"pith_short_12","alias_value":"LL2SIVJH7WRE","created_at":"2026-07-13T01:19:01Z"},{"alias_kind":"pith_short_16","alias_value":"LL2SIVJH7WREYE2V","created_at":"2026-07-13T01:19:01Z"},{"alias_kind":"pith_short_8","alias_value":"LL2SIVJH","created_at":"2026-07-13T01:19:01Z"}],"graph_snapshots":[{"event_id":"sha256:060209a800a4141c5990e40e252d93ad2a778068487be405ee08e1fd03d5fc9f","target":"graph","created_at":"2026-07-13T01:19:01Z","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/2607.09319/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reliable terrain understanding is a prerequisite for autonomous robot navigation. Yet, the widespread RGB-based perception can fail under low illumination, shadows, and material ambiguities. In this work we propose DRIFT, a lightweight multispectral framework that combines raw spectral bands and illumination-tolerant band-ratio representations through a dual-stream residual architecture and a differential fusion branch. Band ratios attenuate multiplicative acquisition effects (illumination/sensor gains), while the differential fusion explicitly highlights discrepancies between absolute-band an","authors_text":"Fulvio Mastrogiovanni, Hemendra Arya, Omar Kashmar","cross_cats":["eess.IV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-10T11:57:46Z","title":"Differential Analysis of Multispectral Images for Terrain Identification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.09319","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":"sha256:9f40ea919398fb9f47ade0dc7ff4e99da1a5141cfb7cd8e8b15b6ecf3dbfa804","target":"record","created_at":"2026-07-13T01:19:01Z","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":"fd115ea34d30569cd11f1be2fd145c4a908a595cbd5a00c612b6761a7a9359a8","cross_cats_sorted":["eess.IV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-10T11:57:46Z","title_canon_sha256":"b9bb130d16434fd17930d877d4b20cc89538d136dba338e67a4c76c0b402d89b"},"schema_version":"1.0","source":{"id":"2607.09319","kind":"arxiv","version":1}},"canonical_sha256":"5af5245527fda24c1355059eae7a2c33adbb4153168896b58dc8ac539b0bbc4b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5af5245527fda24c1355059eae7a2c33adbb4153168896b58dc8ac539b0bbc4b","first_computed_at":"2026-07-13T01:19:01.839532Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-13T01:19:01.839532Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4IgqkQzrhTs84YBy3PMNUrxfy17yK56duFXwlDMtJ03DW6mn96eyV7xwbrMTKla9hemQOmFlkDifK2PBTgg2Bw==","signature_status":"signed_v1","signed_at":"2026-07-13T01:19:01.841193Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.09319","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9f40ea919398fb9f47ade0dc7ff4e99da1a5141cfb7cd8e8b15b6ecf3dbfa804","sha256:060209a800a4141c5990e40e252d93ad2a778068487be405ee08e1fd03d5fc9f"],"state_sha256":"b7f90ab77218169b428f1b8115b74109049d3cefbb75a25cc3ba51e916e08edd"}