{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:NXMHEVDEGAJQQN2Z63J6P4HDGE","short_pith_number":"pith:NXMHEVDE","canonical_record":{"source":{"id":"2206.06537","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-14T01:03:58Z","cross_cats_sorted":[],"title_canon_sha256":"82b0831f99ae85e93ec760cf2b3e0127ee50f8f748a98b93853fb1ef920e229f","abstract_canon_sha256":"0693285c89f550f7c5a2b5ce70b58a87fc7b46c5552653f7a8f28b22159edebc"},"schema_version":"1.0"},"canonical_sha256":"6dd87254643013083759f6d3e7f0e3313caf31fa1e89ec9d432162dfd5360733","source":{"kind":"arxiv","id":"2206.06537","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.06537","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"arxiv_version","alias_value":"2206.06537v1","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.06537","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_12","alias_value":"NXMHEVDEGAJQ","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"NXMHEVDEGAJQQN2Z","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"NXMHEVDE","created_at":"2026-07-05T04:31:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:NXMHEVDEGAJQQN2Z63J6P4HDGE","target":"record","payload":{"canonical_record":{"source":{"id":"2206.06537","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-14T01:03:58Z","cross_cats_sorted":[],"title_canon_sha256":"82b0831f99ae85e93ec760cf2b3e0127ee50f8f748a98b93853fb1ef920e229f","abstract_canon_sha256":"0693285c89f550f7c5a2b5ce70b58a87fc7b46c5552653f7a8f28b22159edebc"},"schema_version":"1.0"},"canonical_sha256":"6dd87254643013083759f6d3e7f0e3313caf31fa1e89ec9d432162dfd5360733","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:31:43.281383Z","signature_b64":"xGf/VQuWB6Km6mKH/pyUHT9ewxEDxqjuh7NdiAEiR3xuketSGDuMwGO5Vm4q95JJE5KQTgV3dXPNiXyJUVbYDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6dd87254643013083759f6d3e7f0e3313caf31fa1e89ec9d432162dfd5360733","last_reissued_at":"2026-07-05T04:31:43.280891Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:31:43.280891Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.06537","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":"2026-07-05T04:31:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fdmlLrjGO/d3r1hJM5g7iIxmWc+RkbGBiGWJDsjElXruilJocRbTrTb36IqyM6Er+YW95KxPxzRaM0CjnODyDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:35:43.037308Z"},"content_sha256":"f5a26d6ff7df9b65bae5e0f7886d9dbaacb79e8eb1ff83378633b1aa6979b00b","schema_version":"1.0","event_id":"sha256:f5a26d6ff7df9b65bae5e0f7886d9dbaacb79e8eb1ff83378633b1aa6979b00b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:NXMHEVDEGAJQQN2Z63J6P4HDGE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron Young, Abhiraj Dashora, Asher Elmquist, Dan Negrut, Ishaan Mahajan, Kyle Fahey, Radu Serban, Sriram Ashokkumar, Stefan Caldararu, Victor Freire, Xiangru Xu","submitted_at":"2022-06-14T01:03:58Z","abstract_excerpt":"We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS) independent, has three main components: a ROS 2 interface to a C++ vehicle simulation framework (Chrono), which provides high-fidelity wheeled/tracked vehicle and sensor simulation; a basic ROS 2-based autonomy stack for algorithm design and testing; and, a development ecosystem which enables visualization, and hardware-in-the-loop experimentation in perception, st"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.06537","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/2206.06537/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":"2026-07-05T04:31:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8M0GUeYjBc0UCM99IzT74x37z+L+a/a6WTSpnkP3Gyft3PafODBm/dchv+zMf77UdFaT7zn19F440psisUeLDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:35:43.037705Z"},"content_sha256":"698e3cf60f6a9802f2ee1d55ab91cbd6e31d369c17be88b1a5930fe1ccb89932","schema_version":"1.0","event_id":"sha256:698e3cf60f6a9802f2ee1d55ab91cbd6e31d369c17be88b1a5930fe1ccb89932"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/bundle.json","state_url":"https://pith.science/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/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":"2026-07-07T07:35:43Z","links":{"resolver":"https://pith.science/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE","bundle":"https://pith.science/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/bundle.json","state":"https://pith.science/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NXMHEVDEGAJQQN2Z63J6P4HDGE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:NXMHEVDEGAJQQN2Z63J6P4HDGE","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":"0693285c89f550f7c5a2b5ce70b58a87fc7b46c5552653f7a8f28b22159edebc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-14T01:03:58Z","title_canon_sha256":"82b0831f99ae85e93ec760cf2b3e0127ee50f8f748a98b93853fb1ef920e229f"},"schema_version":"1.0","source":{"id":"2206.06537","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.06537","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"arxiv_version","alias_value":"2206.06537v1","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.06537","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_12","alias_value":"NXMHEVDEGAJQ","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"NXMHEVDEGAJQQN2Z","created_at":"2026-07-05T04:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"NXMHEVDE","created_at":"2026-07-05T04:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:698e3cf60f6a9802f2ee1d55ab91cbd6e31d369c17be88b1a5930fe1ccb89932","target":"graph","created_at":"2026-07-05T04:31:43Z","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/2206.06537/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS) independent, has three main components: a ROS 2 interface to a C++ vehicle simulation framework (Chrono), which provides high-fidelity wheeled/tracked vehicle and sensor simulation; a basic ROS 2-based autonomy stack for algorithm design and testing; and, a development ecosystem which enables visualization, and hardware-in-the-loop experimentation in perception, st","authors_text":"Aaron Young, Abhiraj Dashora, Asher Elmquist, Dan Negrut, Ishaan Mahajan, Kyle Fahey, Radu Serban, Sriram Ashokkumar, Stefan Caldararu, Victor Freire, Xiangru Xu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-14T01:03:58Z","title":"A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.06537","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:f5a26d6ff7df9b65bae5e0f7886d9dbaacb79e8eb1ff83378633b1aa6979b00b","target":"record","created_at":"2026-07-05T04:31:43Z","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":"0693285c89f550f7c5a2b5ce70b58a87fc7b46c5552653f7a8f28b22159edebc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-14T01:03:58Z","title_canon_sha256":"82b0831f99ae85e93ec760cf2b3e0127ee50f8f748a98b93853fb1ef920e229f"},"schema_version":"1.0","source":{"id":"2206.06537","kind":"arxiv","version":1}},"canonical_sha256":"6dd87254643013083759f6d3e7f0e3313caf31fa1e89ec9d432162dfd5360733","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6dd87254643013083759f6d3e7f0e3313caf31fa1e89ec9d432162dfd5360733","first_computed_at":"2026-07-05T04:31:43.280891Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:31:43.280891Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xGf/VQuWB6Km6mKH/pyUHT9ewxEDxqjuh7NdiAEiR3xuketSGDuMwGO5Vm4q95JJE5KQTgV3dXPNiXyJUVbYDA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:31:43.281383Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.06537","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f5a26d6ff7df9b65bae5e0f7886d9dbaacb79e8eb1ff83378633b1aa6979b00b","sha256:698e3cf60f6a9802f2ee1d55ab91cbd6e31d369c17be88b1a5930fe1ccb89932"],"state_sha256":"3a9bf9bd2a087119f8ef0ff708a05e85f2545158eb172ed27ca836a2047250e5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zh8NNfzn6z8/Yi5MbYUoHrWT3f/bgZGBPQVUaWuBTe2MgQMRMcJoMj8CgVNOSOw9Vzxwqu31whrCCxf+VhCtCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T07:35:43.039924Z","bundle_sha256":"7acdc775bd7339154e69ac145c425d78f26dfc0a77f9e74ff5f91140950a77ff"}}