{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:M2JHMDZSAT6IJTLF6X4LIVGFTE","short_pith_number":"pith:M2JHMDZS","canonical_record":{"source":{"id":"2407.00931","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T03:23:41Z","cross_cats_sorted":[],"title_canon_sha256":"69f74a2a9b9d590fd2ab49e27f2da1c03e35a12d22951753ac14391ed262c5ad","abstract_canon_sha256":"8619c32ed1f45bc0c5df98e687faac80a0199447a31c11c15c4a0beebf7010f5"},"schema_version":"1.0"},"canonical_sha256":"6692760f3204fc84cd65f5f8b454c5992dc80f8f1d9f0e4c17e4530ea5c80617","source":{"kind":"arxiv","id":"2407.00931","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.00931","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"arxiv_version","alias_value":"2407.00931v1","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.00931","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_12","alias_value":"M2JHMDZSAT6I","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_16","alias_value":"M2JHMDZSAT6IJTLF","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_8","alias_value":"M2JHMDZS","created_at":"2026-07-05T08:38:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:M2JHMDZSAT6IJTLF6X4LIVGFTE","target":"record","payload":{"canonical_record":{"source":{"id":"2407.00931","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T03:23:41Z","cross_cats_sorted":[],"title_canon_sha256":"69f74a2a9b9d590fd2ab49e27f2da1c03e35a12d22951753ac14391ed262c5ad","abstract_canon_sha256":"8619c32ed1f45bc0c5df98e687faac80a0199447a31c11c15c4a0beebf7010f5"},"schema_version":"1.0"},"canonical_sha256":"6692760f3204fc84cd65f5f8b454c5992dc80f8f1d9f0e4c17e4530ea5c80617","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:38:26.390473Z","signature_b64":"uJkIhoxS+FMchv8WHuJSLO/Vgjq0u4Zw4yeJ8jAKUOh8NsMA6tpieq3mPNu70Dvbr/v+320PoHr7P2cqWXboDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6692760f3204fc84cd65f5f8b454c5992dc80f8f1d9f0e4c17e4530ea5c80617","last_reissued_at":"2026-07-05T08:38:26.390103Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:38:26.390103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.00931","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":"2026-07-05T08:38:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B93YMl/MYZRRTCC3u9RVORJcu8C1fJ0peJHYqGnT8p7GxjRH/b913YzTNzNPsoEvBH4C7FZcm6hORHitMTiaCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T14:50:28.187215Z"},"content_sha256":"9e6470f6775cadf816afe4899c1beb808c45bcf4dd064879e99501abfcacd480","schema_version":"1.0","event_id":"sha256:9e6470f6775cadf816afe4899c1beb808c45bcf4dd064879e99501abfcacd480"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:M2JHMDZSAT6IJTLF6X4LIVGFTE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Neuromorphic Navigation: Integrating Event-Based Vision and Physics-Driven Planning on a Parrot Bebop2 Quadrotor","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amogh Joshi, Kaushik Roy, Sourav Sanyal","submitted_at":"2024-07-01T03:23:41Z","abstract_excerpt":"In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras with physics-driven planning algorithms implemented on a Parrot Bebop2 quadrotor. Neuromorphic event cameras, characterized by their high dynamic range and low latency, offer significant advantages over traditional frame-based systems, particularly in poor lighting conditions or during high-speed maneuvers. We use a DVS camera with a shallow Spiking Neural N"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00931","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/2407.00931/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":"2026-07-05T08:38:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GZB1zQrbq9UVq3lP7O8nZG5E5sN1QYZJOmxAGeckplQh4N+fmrHPk1RUqqxB1w/8Q0VmD+IT/1nk0di9BYmhBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T14:50:28.187889Z"},"content_sha256":"2f5037050b9113e1f1825ac4b15737796d1946be620ca4f51a45397390e6247e","schema_version":"1.0","event_id":"sha256:2f5037050b9113e1f1825ac4b15737796d1946be620ca4f51a45397390e6247e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/bundle.json","state_url":"https://pith.science/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/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":"2026-08-11T14:50:28Z","links":{"resolver":"https://pith.science/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE","bundle":"https://pith.science/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/bundle.json","state":"https://pith.science/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/M2JHMDZSAT6IJTLF6X4LIVGFTE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:M2JHMDZSAT6IJTLF6X4LIVGFTE","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":"8619c32ed1f45bc0c5df98e687faac80a0199447a31c11c15c4a0beebf7010f5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T03:23:41Z","title_canon_sha256":"69f74a2a9b9d590fd2ab49e27f2da1c03e35a12d22951753ac14391ed262c5ad"},"schema_version":"1.0","source":{"id":"2407.00931","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.00931","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"arxiv_version","alias_value":"2407.00931v1","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.00931","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_12","alias_value":"M2JHMDZSAT6I","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_16","alias_value":"M2JHMDZSAT6IJTLF","created_at":"2026-07-05T08:38:26Z"},{"alias_kind":"pith_short_8","alias_value":"M2JHMDZS","created_at":"2026-07-05T08:38:26Z"}],"graph_snapshots":[{"event_id":"sha256:2f5037050b9113e1f1825ac4b15737796d1946be620ca4f51a45397390e6247e","target":"graph","created_at":"2026-07-05T08:38:26Z","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/2407.00931/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras with physics-driven planning algorithms implemented on a Parrot Bebop2 quadrotor. Neuromorphic event cameras, characterized by their high dynamic range and low latency, offer significant advantages over traditional frame-based systems, particularly in poor lighting conditions or during high-speed maneuvers. We use a DVS camera with a shallow Spiking Neural N","authors_text":"Amogh Joshi, Kaushik Roy, Sourav Sanyal","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T03:23:41Z","title":"Real-Time Neuromorphic Navigation: Integrating Event-Based Vision and Physics-Driven Planning on a Parrot Bebop2 Quadrotor"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00931","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":"sha256:9e6470f6775cadf816afe4899c1beb808c45bcf4dd064879e99501abfcacd480","target":"record","created_at":"2026-07-05T08:38:26Z","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":"8619c32ed1f45bc0c5df98e687faac80a0199447a31c11c15c4a0beebf7010f5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T03:23:41Z","title_canon_sha256":"69f74a2a9b9d590fd2ab49e27f2da1c03e35a12d22951753ac14391ed262c5ad"},"schema_version":"1.0","source":{"id":"2407.00931","kind":"arxiv","version":1}},"canonical_sha256":"6692760f3204fc84cd65f5f8b454c5992dc80f8f1d9f0e4c17e4530ea5c80617","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6692760f3204fc84cd65f5f8b454c5992dc80f8f1d9f0e4c17e4530ea5c80617","first_computed_at":"2026-07-05T08:38:26.390103Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:38:26.390103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uJkIhoxS+FMchv8WHuJSLO/Vgjq0u4Zw4yeJ8jAKUOh8NsMA6tpieq3mPNu70Dvbr/v+320PoHr7P2cqWXboDw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:38:26.390473Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.00931","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9e6470f6775cadf816afe4899c1beb808c45bcf4dd064879e99501abfcacd480","sha256:2f5037050b9113e1f1825ac4b15737796d1946be620ca4f51a45397390e6247e"],"state_sha256":"2bf700132b004b402eab6597e7dc480c33c7175d690737944634f6df616fb049"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i3LHp6zsXnrJhqK49CxwYxlCCTp/nTQ3ZnAVlmXulf9RSRPWrH8K3lNco91faX7y5tzQZOCWJGS2DrC/knHHDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T14:50:28.193583Z","bundle_sha256":"4b5f8aab998e280fc169d54bf2c6da689c9f742b7b92bf699d138eaf50a5b2aa"}}