{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:PTA3ORVPC3NSWSXZ37XWM6KQYT","short_pith_number":"pith:PTA3ORVP","canonical_record":{"source":{"id":"2112.02662","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.HC","submitted_at":"2021-12-05T19:35:25Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3a517cbf2a4135c59569aab2bf8290a8578b1785ddef5849921d232ad690466f","abstract_canon_sha256":"dae67380e2ecd795ce7c289ff9586b20e81949170d53c8747190048796ee3b23"},"schema_version":"1.0"},"canonical_sha256":"7cc1b746af16db2b4af9dfef667950c4fa10cb35fcc2ad4a4ed991a8b252a0ea","source":{"kind":"arxiv","id":"2112.02662","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.02662","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"arxiv_version","alias_value":"2112.02662v2","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.02662","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_12","alias_value":"PTA3ORVPC3NS","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_16","alias_value":"PTA3ORVPC3NSWSXZ","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_8","alias_value":"PTA3ORVP","created_at":"2026-07-05T03:47:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:PTA3ORVPC3NSWSXZ37XWM6KQYT","target":"record","payload":{"canonical_record":{"source":{"id":"2112.02662","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.HC","submitted_at":"2021-12-05T19:35:25Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3a517cbf2a4135c59569aab2bf8290a8578b1785ddef5849921d232ad690466f","abstract_canon_sha256":"dae67380e2ecd795ce7c289ff9586b20e81949170d53c8747190048796ee3b23"},"schema_version":"1.0"},"canonical_sha256":"7cc1b746af16db2b4af9dfef667950c4fa10cb35fcc2ad4a4ed991a8b252a0ea","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:47:02.865214Z","signature_b64":"tMV+GTmVxxih9mfIRkWbJzi/BZagLxmAs6Hz7EP7+whCEPPJr7dxxDOOOjuFr9SyemhiIcngXusD8woUYQ4GDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7cc1b746af16db2b4af9dfef667950c4fa10cb35fcc2ad4a4ed991a8b252a0ea","last_reissued_at":"2026-07-05T03:47:02.864664Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:47:02.864664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.02662","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:47:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ni9Cn3dgNdhK2SfnnRx5+0yLyFDqrf22HO9aAC2m379yqgwh7dMNTyPY8ZPjROFxQD6Kt1ylu8SkCdWsoW7RBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T00:19:53.991715Z"},"content_sha256":"9b69c589a22eb808dc9d74fea6fd4a23c0ffcf6845971655c944b3c358ccd8d9","schema_version":"1.0","event_id":"sha256:9b69c589a22eb808dc9d74fea6fd4a23c0ffcf6845971655c944b3c358ccd8d9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:PTA3ORVPC3NSWSXZ37XWM6KQYT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.HC","authors_text":"Abdolreza Taheri, Achim Lilienthal, Amirmasoud Molaei, Daniel Eriksson, David Fassbender, Henrik Andreasson, Himanshu Gupta, Marcus Geimer, Paolo Forte, Prashant Rai, Reza Ghabcheloo, Saku M\\\"akinen, Tyrone Machado","submitted_at":"2021-12-05T19:35:25Z","abstract_excerpt":"Heavy-duty mobile machines (HDMMs) are a wide range of machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortage, poor safety records, and harsh work environments. Consequently, efforts are underway to increase automation in HDMMs for increased productivity and safety, eventually transitioning to operator-less autonomous HDMMs to address skilled labor shortages. However, HDMM are complex machines requiring continuous physical and cognitive inputs from human-operators. Thus, developing autonomous HDMM is a huge challenge, with"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.02662","kind":"arxiv","version":2},"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/2112.02662/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":"2026-07-05T03:47:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j5mqzlUkYl1OB+RQaELEYTiP1J2r3YIvu5Zn3yYoPfW8mOc8krGmV9ITEE9WYSPSZwy1RpWmuyeqdybgr2NHDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T00:19:53.992112Z"},"content_sha256":"3dc1dba7038ef5acb30102e9c40c58152b464ced24715b167913b61bffa3b69a","schema_version":"1.0","event_id":"sha256:3dc1dba7038ef5acb30102e9c40c58152b464ced24715b167913b61bffa3b69a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/bundle.json","state_url":"https://pith.science/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/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":"2026-07-13T00:19:53Z","links":{"resolver":"https://pith.science/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT","bundle":"https://pith.science/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/bundle.json","state":"https://pith.science/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PTA3ORVPC3NSWSXZ37XWM6KQYT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:PTA3ORVPC3NSWSXZ37XWM6KQYT","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":"dae67380e2ecd795ce7c289ff9586b20e81949170d53c8747190048796ee3b23","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.HC","submitted_at":"2021-12-05T19:35:25Z","title_canon_sha256":"3a517cbf2a4135c59569aab2bf8290a8578b1785ddef5849921d232ad690466f"},"schema_version":"1.0","source":{"id":"2112.02662","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.02662","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"arxiv_version","alias_value":"2112.02662v2","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.02662","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_12","alias_value":"PTA3ORVPC3NS","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_16","alias_value":"PTA3ORVPC3NSWSXZ","created_at":"2026-07-05T03:47:02Z"},{"alias_kind":"pith_short_8","alias_value":"PTA3ORVP","created_at":"2026-07-05T03:47:02Z"}],"graph_snapshots":[{"event_id":"sha256:3dc1dba7038ef5acb30102e9c40c58152b464ced24715b167913b61bffa3b69a","target":"graph","created_at":"2026-07-05T03:47:02Z","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/2112.02662/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Heavy-duty mobile machines (HDMMs) are a wide range of machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortage, poor safety records, and harsh work environments. Consequently, efforts are underway to increase automation in HDMMs for increased productivity and safety, eventually transitioning to operator-less autonomous HDMMs to address skilled labor shortages. However, HDMM are complex machines requiring continuous physical and cognitive inputs from human-operators. Thus, developing autonomous HDMM is a huge challenge, with","authors_text":"Abdolreza Taheri, Achim Lilienthal, Amirmasoud Molaei, Daniel Eriksson, David Fassbender, Henrik Andreasson, Himanshu Gupta, Marcus Geimer, Paolo Forte, Prashant Rai, Reza Ghabcheloo, Saku M\\\"akinen, Tyrone Machado","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.HC","submitted_at":"2021-12-05T19:35:25Z","title":"Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.02662","kind":"arxiv","version":2},"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":"sha256:9b69c589a22eb808dc9d74fea6fd4a23c0ffcf6845971655c944b3c358ccd8d9","target":"record","created_at":"2026-07-05T03:47:02Z","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":"dae67380e2ecd795ce7c289ff9586b20e81949170d53c8747190048796ee3b23","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.HC","submitted_at":"2021-12-05T19:35:25Z","title_canon_sha256":"3a517cbf2a4135c59569aab2bf8290a8578b1785ddef5849921d232ad690466f"},"schema_version":"1.0","source":{"id":"2112.02662","kind":"arxiv","version":2}},"canonical_sha256":"7cc1b746af16db2b4af9dfef667950c4fa10cb35fcc2ad4a4ed991a8b252a0ea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7cc1b746af16db2b4af9dfef667950c4fa10cb35fcc2ad4a4ed991a8b252a0ea","first_computed_at":"2026-07-05T03:47:02.864664Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:47:02.864664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tMV+GTmVxxih9mfIRkWbJzi/BZagLxmAs6Hz7EP7+whCEPPJr7dxxDOOOjuFr9SyemhiIcngXusD8woUYQ4GDw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:47:02.865214Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.02662","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b69c589a22eb808dc9d74fea6fd4a23c0ffcf6845971655c944b3c358ccd8d9","sha256:3dc1dba7038ef5acb30102e9c40c58152b464ced24715b167913b61bffa3b69a"],"state_sha256":"6cd9a02d2c463d499541c4959592b3ed1f502e08bf14fd494dddb3057c27a664"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qoGPoLkMbhJyc4TeiB81haD9RHQmQCjSJ6C6/Ii/vUYpEFoBj4wss7V/O283hc3JHfrtpiFsn9N91BrlD4J8Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-13T00:19:53.996588Z","bundle_sha256":"1ccf5746d51b499651cc593d6de2667a3978bcc79f234d6f3c0e33f65ef7e71a"}}