{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:M5LFFVMVBFTO7X2ZTWSHLKB66G","short_pith_number":"pith:M5LFFVMV","canonical_record":{"source":{"id":"2408.02949","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-06T04:25:09Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"4fe5884fa79f22933dd6e9bdfa5a53c5aa43b892bc04dc1dd4dfae434d80bd3a","abstract_canon_sha256":"0f49444da84559ba1d0684897dbcd10a25946d407d81fb282eabae1336f6a0d6"},"schema_version":"1.0"},"canonical_sha256":"675652d5950966efdf599da475a83ef1be776c94347469d910182dd412be3dcf","source":{"kind":"arxiv","id":"2408.02949","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.02949","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"arxiv_version","alias_value":"2408.02949v1","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.02949","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_12","alias_value":"M5LFFVMVBFTO","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_16","alias_value":"M5LFFVMVBFTO7X2Z","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_8","alias_value":"M5LFFVMV","created_at":"2026-07-05T08:52:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:M5LFFVMVBFTO7X2ZTWSHLKB66G","target":"record","payload":{"canonical_record":{"source":{"id":"2408.02949","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-06T04:25:09Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"4fe5884fa79f22933dd6e9bdfa5a53c5aa43b892bc04dc1dd4dfae434d80bd3a","abstract_canon_sha256":"0f49444da84559ba1d0684897dbcd10a25946d407d81fb282eabae1336f6a0d6"},"schema_version":"1.0"},"canonical_sha256":"675652d5950966efdf599da475a83ef1be776c94347469d910182dd412be3dcf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:52:42.809338Z","signature_b64":"i5bhxi9FXZqUs2gY/em9sQHFgu5E2aKBACwWjJdU6zoHAdWffrS42OrWaLUpnauUYyaa5Tbv1irzjFdpdJpCCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"675652d5950966efdf599da475a83ef1be776c94347469d910182dd412be3dcf","last_reissued_at":"2026-07-05T08:52:42.808877Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:52:42.808877Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2408.02949","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":"2026-07-05T08:52:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vbAFbS4dchdvXD6cB/B573EOAE2aD5qLcc2/t8JGSzq2x5OzhVFxs15SdndycehhpXvd7fjLaQCjFAptsUe7Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:02:36.111609Z"},"content_sha256":"71f5e7a7e3fa9af63f4bb8ab97e9ac6b033e171aed7658521f2ab746cb01173d","schema_version":"1.0","event_id":"sha256:71f5e7a7e3fa9af63f4bb8ab97e9ac6b033e171aed7658521f2ab746cb01173d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:M5LFFVMVBFTO7X2ZTWSHLKB66G","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Few-shot Scooping Under Domain Shift via Simulated Maximal Deployment Gaps","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ashish Goel, Erica L Tevere, Erik Kramer, Hari D Nayar, Kris Hauser, Melkior Ornik, Pranay Thangeda, Yifan Zhu","submitted_at":"2024-08-06T04:25:09Z","abstract_excerpt":"Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Earth. To tackle this challenge, this paper studies the few-shot scooping problem and proposes a vision-based adaptive scooping strategy that uses the deep kernel Gaussian process method trained with a novel meta-training strategy to learn online from very limited experience on out-of-distribution target terrains. Our Deep Kernel Calibration with Maximal Deployment Gaps (kCMD) strategy explicitly trains a deep kernel mod"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.02949","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/2408.02949/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":"2026-07-05T08:52:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UZl35AyFoyItWCp3KUh5Fkc2dJEzAjAXVQoxt1LB3s2DzoyuQixp4NFmrVzO9aWpCWo96K+QVonIwEZlkArhDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:02:36.111987Z"},"content_sha256":"7694ee0972a925cfb846ce2cb3cd98296c2e1255047cade7c77295ac32d5726b","schema_version":"1.0","event_id":"sha256:7694ee0972a925cfb846ce2cb3cd98296c2e1255047cade7c77295ac32d5726b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/bundle.json","state_url":"https://pith.science/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/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":"2026-07-06T19:02:36Z","links":{"resolver":"https://pith.science/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G","bundle":"https://pith.science/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/bundle.json","state":"https://pith.science/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/state.json","well_known_bundle":"https://pith.science/.well-known/pith/M5LFFVMVBFTO7X2ZTWSHLKB66G/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:M5LFFVMVBFTO7X2ZTWSHLKB66G","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":"0f49444da84559ba1d0684897dbcd10a25946d407d81fb282eabae1336f6a0d6","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-06T04:25:09Z","title_canon_sha256":"4fe5884fa79f22933dd6e9bdfa5a53c5aa43b892bc04dc1dd4dfae434d80bd3a"},"schema_version":"1.0","source":{"id":"2408.02949","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.02949","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"arxiv_version","alias_value":"2408.02949v1","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.02949","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_12","alias_value":"M5LFFVMVBFTO","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_16","alias_value":"M5LFFVMVBFTO7X2Z","created_at":"2026-07-05T08:52:42Z"},{"alias_kind":"pith_short_8","alias_value":"M5LFFVMV","created_at":"2026-07-05T08:52:42Z"}],"graph_snapshots":[{"event_id":"sha256:7694ee0972a925cfb846ce2cb3cd98296c2e1255047cade7c77295ac32d5726b","target":"graph","created_at":"2026-07-05T08:52:42Z","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/2408.02949/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Earth. To tackle this challenge, this paper studies the few-shot scooping problem and proposes a vision-based adaptive scooping strategy that uses the deep kernel Gaussian process method trained with a novel meta-training strategy to learn online from very limited experience on out-of-distribution target terrains. Our Deep Kernel Calibration with Maximal Deployment Gaps (kCMD) strategy explicitly trains a deep kernel mod","authors_text":"Ashish Goel, Erica L Tevere, Erik Kramer, Hari D Nayar, Kris Hauser, Melkior Ornik, Pranay Thangeda, Yifan Zhu","cross_cats":["cs.AI","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-06T04:25:09Z","title":"Few-shot Scooping Under Domain Shift via Simulated Maximal Deployment Gaps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.02949","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":"sha256:71f5e7a7e3fa9af63f4bb8ab97e9ac6b033e171aed7658521f2ab746cb01173d","target":"record","created_at":"2026-07-05T08:52:42Z","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":"0f49444da84559ba1d0684897dbcd10a25946d407d81fb282eabae1336f6a0d6","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-06T04:25:09Z","title_canon_sha256":"4fe5884fa79f22933dd6e9bdfa5a53c5aa43b892bc04dc1dd4dfae434d80bd3a"},"schema_version":"1.0","source":{"id":"2408.02949","kind":"arxiv","version":1}},"canonical_sha256":"675652d5950966efdf599da475a83ef1be776c94347469d910182dd412be3dcf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"675652d5950966efdf599da475a83ef1be776c94347469d910182dd412be3dcf","first_computed_at":"2026-07-05T08:52:42.808877Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:52:42.808877Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i5bhxi9FXZqUs2gY/em9sQHFgu5E2aKBACwWjJdU6zoHAdWffrS42OrWaLUpnauUYyaa5Tbv1irzjFdpdJpCCg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:52:42.809338Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.02949","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:71f5e7a7e3fa9af63f4bb8ab97e9ac6b033e171aed7658521f2ab746cb01173d","sha256:7694ee0972a925cfb846ce2cb3cd98296c2e1255047cade7c77295ac32d5726b"],"state_sha256":"1cead6424e905527ae8c8ac937a0aa777092880e493f231208ed705174b7fc7a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JrtHgK7slj2IrtmIvBDAolO0INUjO+LZoBPN3B8PH/bu8E8GA7pS7CR5YzIm5dlohtd2zpesEPbjDz38OpWeDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:02:36.114117Z","bundle_sha256":"844c069dfa366f8076d3b389c9eb19b43719da9549d5a363769cbe43d7e57826"}}