{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:M2PYU4SUSX7HXFQNX6BZ3ZZYS4","short_pith_number":"pith:M2PYU4SU","canonical_record":{"source":{"id":"2606.19383","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T08:14:08Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"2ba8ee8c73c12ce6b61011d477bd19e7f62de6e19d0bd8faebdeffc2046d9f28","abstract_canon_sha256":"a8a9b3058c73a122f2f7dbdb384b2951fbefed21567d080c5da990d3fda614a2"},"schema_version":"1.0"},"canonical_sha256":"669f8a725495fe7b960dbf839de7389701534a086e8d100fea5f1608b58f6d08","source":{"kind":"arxiv","id":"2606.19383","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19383","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19383v1","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19383","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_12","alias_value":"M2PYU4SUSX7H","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_16","alias_value":"M2PYU4SUSX7HXFQN","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_8","alias_value":"M2PYU4SU","created_at":"2026-06-19T16:12:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:M2PYU4SUSX7HXFQNX6BZ3ZZYS4","target":"record","payload":{"canonical_record":{"source":{"id":"2606.19383","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T08:14:08Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"2ba8ee8c73c12ce6b61011d477bd19e7f62de6e19d0bd8faebdeffc2046d9f28","abstract_canon_sha256":"a8a9b3058c73a122f2f7dbdb384b2951fbefed21567d080c5da990d3fda614a2"},"schema_version":"1.0"},"canonical_sha256":"669f8a725495fe7b960dbf839de7389701534a086e8d100fea5f1608b58f6d08","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:23.768729Z","signature_b64":"om3qm4WzKWLEoTOGPxYjvSx+3LKP/0hoUyopfkQwYYiDhMc4d0U9tGC7RrPmdA67C/y0/lWV6z/ThSKl11PgCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"669f8a725495fe7b960dbf839de7389701534a086e8d100fea5f1608b58f6d08","last_reissued_at":"2026-06-19T16:12:23.768370Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:23.768370Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.19383","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":"2026-06-19T16:12:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yYsHVeBP5BdBjSwzcJ7tEEmUaF0clV2rQHmVZ2W4ad3jDXVzjyUwoJqZvfX0Cuhv8zbGmPEL6PUQO6gEtEURAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T04:38:47.056466Z"},"content_sha256":"96050cc136be5fd61e7d041cd1cd08ff8b99730746ad60777a1f92d1ee66b033","schema_version":"1.0","event_id":"sha256:96050cc136be5fd61e7d041cd1cd08ff8b99730746ad60777a1f92d1ee66b033"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:M2PYU4SUSX7HXFQNX6BZ3ZZYS4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D Scene Graphs: Open Challenges and Future Directions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Abhinav Valada, Daniele Nardi, Dennis Rotondi, Federico Tombari, Francesco Argenziano, Johanna Wald, Kai O. Arras, Liam Paull, Luca Carlone, Lukas Rosenberger Schmid, Martin Buechner, Nathan Hughes, Sebastian Koch","submitted_at":"2026-06-15T08:14:08Z","abstract_excerpt":"3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including manipulation, navigation, task planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19383","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/2606.19383/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":"2026-06-19T16:12:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9Nx2D5G4xcAse2hJzYyDV8cTMu/LH8TVJoiU8DsI6aaYmBN/srqpW0MfzaaFobsQwQu3qGoRyQYlJru1/nZyBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T04:38:47.056860Z"},"content_sha256":"496b620f066998b2dfa6c36e43c407c2a200ad505de96c469969f5f3143f2cf2","schema_version":"1.0","event_id":"sha256:496b620f066998b2dfa6c36e43c407c2a200ad505de96c469969f5f3143f2cf2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/bundle.json","state_url":"https://pith.science/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/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":"2026-06-28T04:38:47Z","links":{"resolver":"https://pith.science/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4","bundle":"https://pith.science/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/bundle.json","state":"https://pith.science/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/M2PYU4SUSX7HXFQNX6BZ3ZZYS4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:M2PYU4SUSX7HXFQNX6BZ3ZZYS4","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":"a8a9b3058c73a122f2f7dbdb384b2951fbefed21567d080c5da990d3fda614a2","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T08:14:08Z","title_canon_sha256":"2ba8ee8c73c12ce6b61011d477bd19e7f62de6e19d0bd8faebdeffc2046d9f28"},"schema_version":"1.0","source":{"id":"2606.19383","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19383","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19383v1","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19383","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_12","alias_value":"M2PYU4SUSX7H","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_16","alias_value":"M2PYU4SUSX7HXFQN","created_at":"2026-06-19T16:12:23Z"},{"alias_kind":"pith_short_8","alias_value":"M2PYU4SU","created_at":"2026-06-19T16:12:23Z"}],"graph_snapshots":[{"event_id":"sha256:496b620f066998b2dfa6c36e43c407c2a200ad505de96c469969f5f3143f2cf2","target":"graph","created_at":"2026-06-19T16:12:23Z","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/2606.19383/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including manipulation, navigation, task planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining","authors_text":"Abhinav Valada, Daniele Nardi, Dennis Rotondi, Federico Tombari, Francesco Argenziano, Johanna Wald, Kai O. Arras, Liam Paull, Luca Carlone, Lukas Rosenberger Schmid, Martin Buechner, Nathan Hughes, Sebastian Koch","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T08:14:08Z","title":"3D Scene Graphs: Open Challenges and Future Directions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19383","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":"sha256:96050cc136be5fd61e7d041cd1cd08ff8b99730746ad60777a1f92d1ee66b033","target":"record","created_at":"2026-06-19T16:12:23Z","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":"a8a9b3058c73a122f2f7dbdb384b2951fbefed21567d080c5da990d3fda614a2","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T08:14:08Z","title_canon_sha256":"2ba8ee8c73c12ce6b61011d477bd19e7f62de6e19d0bd8faebdeffc2046d9f28"},"schema_version":"1.0","source":{"id":"2606.19383","kind":"arxiv","version":1}},"canonical_sha256":"669f8a725495fe7b960dbf839de7389701534a086e8d100fea5f1608b58f6d08","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"669f8a725495fe7b960dbf839de7389701534a086e8d100fea5f1608b58f6d08","first_computed_at":"2026-06-19T16:12:23.768370Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:12:23.768370Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"om3qm4WzKWLEoTOGPxYjvSx+3LKP/0hoUyopfkQwYYiDhMc4d0U9tGC7RrPmdA67C/y0/lWV6z/ThSKl11PgCQ==","signature_status":"signed_v1","signed_at":"2026-06-19T16:12:23.768729Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.19383","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:96050cc136be5fd61e7d041cd1cd08ff8b99730746ad60777a1f92d1ee66b033","sha256:496b620f066998b2dfa6c36e43c407c2a200ad505de96c469969f5f3143f2cf2"],"state_sha256":"b2096712ef24faeee12b9d42fce175069fad6709c996e8c58760ea2df835bc01"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+EeBZ2BFp8FTgaQ5dnTqUxjFujqDE5J66fw+NIEWdLoXWnHOmvz6xytRHjRLxXx6lAWXdzFpILCjfWOZQaf7CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T04:38:47.058924Z","bundle_sha256":"ab7f6c95ee059721fd51f612779a756493a7095598c1efb88b0efba0ae20305c"}}