{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:OU57CAL5PDQQAE2J5JDBQGSURK","short_pith_number":"pith:OU57CAL5","canonical_record":{"source":{"id":"2412.06101","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-08T23:02:35Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"4bbd4bc6a47e851463e0d55d0e5e2992e13c69a8dfcde43095b3142f6bda4822","abstract_canon_sha256":"f146af71964b6962e6c0306d08a782a9ed30959969b569b3d2e8b4aa0d448874"},"schema_version":"1.0"},"canonical_sha256":"753bf1017d78e1001349ea46181a548ab3d2dacb39752a1853389ffbdd3f9001","source":{"kind":"arxiv","id":"2412.06101","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.06101","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"arxiv_version","alias_value":"2412.06101v1","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.06101","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_12","alias_value":"OU57CAL5PDQQ","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_16","alias_value":"OU57CAL5PDQQAE2J","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_8","alias_value":"OU57CAL5","created_at":"2026-07-05T09:46:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:OU57CAL5PDQQAE2J5JDBQGSURK","target":"record","payload":{"canonical_record":{"source":{"id":"2412.06101","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-08T23:02:35Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"4bbd4bc6a47e851463e0d55d0e5e2992e13c69a8dfcde43095b3142f6bda4822","abstract_canon_sha256":"f146af71964b6962e6c0306d08a782a9ed30959969b569b3d2e8b4aa0d448874"},"schema_version":"1.0"},"canonical_sha256":"753bf1017d78e1001349ea46181a548ab3d2dacb39752a1853389ffbdd3f9001","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:46:15.014263Z","signature_b64":"DAyBJcgWv/Il3uI2I7cfOfIBpOkzGuz3UjHzvs/YsMSQRXMGBxyRkf6RWKPkEH41madeirdIB0b4WLA0EB8WBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"753bf1017d78e1001349ea46181a548ab3d2dacb39752a1853389ffbdd3f9001","last_reissued_at":"2026-07-05T09:46:15.013797Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:46:15.013797Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.06101","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":"2026-07-05T09:46:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ElXjZFOCtf2frDae/rMWpx7lF0BmIdCyEZSl4aIZG/OR/9/uePE1WQCWjKrx9L2gJZ0qYQiiSUQoNCXkEasQCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:08:46.460469Z"},"content_sha256":"e85c9f98c27fdea14d8f562aa8d64700d1e600e0c15bf4f65162e8b23512794c","schema_version":"1.0","event_id":"sha256:e85c9f98c27fdea14d8f562aa8d64700d1e600e0c15bf4f65162e8b23512794c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:OU57CAL5PDQQAE2J5JDBQGSURK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-supervised cost of transport estimation for multimodal path planning","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Adarsh Salagame, Alireza Ramezani, Eric Sihite, Ioannis Mandralis, Morteza Gharib, Vincent Gherold","submitted_at":"2024-12-08T23:02:35Z","abstract_excerpt":"Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the energetically optimal path to follow given a high-level objective and information about the surroundings? To tackle this problem we developed a self-supervised learning method that allows the robot to estimate the cost of transport of its surroundings using only vision inputs. We apply our method to the multi-modal mobility morphobot (M4), a robot that can drive, fly"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.06101","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/2412.06101/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":"2026-07-05T09:46:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SVnJNoeDQ6DRpka/1GWRlSH3RSpjq5IamsY0H70boSqksAhJLuFvM/3/vnNHbHo/aWmZnRg0A8KTN2aNeCcVAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:08:46.460853Z"},"content_sha256":"68306ea12224c953dffd8d0a8c9fa05594ca24a989b5c6ef188aefbf9e75dcc3","schema_version":"1.0","event_id":"sha256:68306ea12224c953dffd8d0a8c9fa05594ca24a989b5c6ef188aefbf9e75dcc3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OU57CAL5PDQQAE2J5JDBQGSURK/bundle.json","state_url":"https://pith.science/pith/OU57CAL5PDQQAE2J5JDBQGSURK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OU57CAL5PDQQAE2J5JDBQGSURK/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":"2026-07-06T23:08:46Z","links":{"resolver":"https://pith.science/pith/OU57CAL5PDQQAE2J5JDBQGSURK","bundle":"https://pith.science/pith/OU57CAL5PDQQAE2J5JDBQGSURK/bundle.json","state":"https://pith.science/pith/OU57CAL5PDQQAE2J5JDBQGSURK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OU57CAL5PDQQAE2J5JDBQGSURK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:OU57CAL5PDQQAE2J5JDBQGSURK","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":"f146af71964b6962e6c0306d08a782a9ed30959969b569b3d2e8b4aa0d448874","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-08T23:02:35Z","title_canon_sha256":"4bbd4bc6a47e851463e0d55d0e5e2992e13c69a8dfcde43095b3142f6bda4822"},"schema_version":"1.0","source":{"id":"2412.06101","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.06101","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"arxiv_version","alias_value":"2412.06101v1","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.06101","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_12","alias_value":"OU57CAL5PDQQ","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_16","alias_value":"OU57CAL5PDQQAE2J","created_at":"2026-07-05T09:46:15Z"},{"alias_kind":"pith_short_8","alias_value":"OU57CAL5","created_at":"2026-07-05T09:46:15Z"}],"graph_snapshots":[{"event_id":"sha256:68306ea12224c953dffd8d0a8c9fa05594ca24a989b5c6ef188aefbf9e75dcc3","target":"graph","created_at":"2026-07-05T09:46:15Z","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/2412.06101/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the energetically optimal path to follow given a high-level objective and information about the surroundings? To tackle this problem we developed a self-supervised learning method that allows the robot to estimate the cost of transport of its surroundings using only vision inputs. We apply our method to the multi-modal mobility morphobot (M4), a robot that can drive, fly","authors_text":"Adarsh Salagame, Alireza Ramezani, Eric Sihite, Ioannis Mandralis, Morteza Gharib, Vincent Gherold","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-08T23:02:35Z","title":"Self-supervised cost of transport estimation for multimodal path planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.06101","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:e85c9f98c27fdea14d8f562aa8d64700d1e600e0c15bf4f65162e8b23512794c","target":"record","created_at":"2026-07-05T09:46:15Z","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":"f146af71964b6962e6c0306d08a782a9ed30959969b569b3d2e8b4aa0d448874","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-08T23:02:35Z","title_canon_sha256":"4bbd4bc6a47e851463e0d55d0e5e2992e13c69a8dfcde43095b3142f6bda4822"},"schema_version":"1.0","source":{"id":"2412.06101","kind":"arxiv","version":1}},"canonical_sha256":"753bf1017d78e1001349ea46181a548ab3d2dacb39752a1853389ffbdd3f9001","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"753bf1017d78e1001349ea46181a548ab3d2dacb39752a1853389ffbdd3f9001","first_computed_at":"2026-07-05T09:46:15.013797Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:46:15.013797Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DAyBJcgWv/Il3uI2I7cfOfIBpOkzGuz3UjHzvs/YsMSQRXMGBxyRkf6RWKPkEH41madeirdIB0b4WLA0EB8WBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:46:15.014263Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.06101","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e85c9f98c27fdea14d8f562aa8d64700d1e600e0c15bf4f65162e8b23512794c","sha256:68306ea12224c953dffd8d0a8c9fa05594ca24a989b5c6ef188aefbf9e75dcc3"],"state_sha256":"80e9a6c7c0be0d1501fd147e8a3b634257322a1d530ad138b9a1db9fac11f300"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7BEftzp+fU81VQE/JfOQHaUsU/WYSKn46mm9fI1rcORWFDlVC6EKrWkQA73vsGLQJk41WNIeL379H6brN441AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:08:46.462812Z","bundle_sha256":"f01eba725af441a5305e39dc8d9a7672b7aca4e2501d744e9e1c2ade29a8ae79"}}