{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:PZR2XJYBD2COYEWIUNCFRBS53T","short_pith_number":"pith:PZR2XJYB","canonical_record":{"source":{"id":"2403.16875","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T15:39:46Z","cross_cats_sorted":[],"title_canon_sha256":"381e768096a4772c5c9b637b33a037b13033816c1bd7b3822b98e3dea6081ea8","abstract_canon_sha256":"12a63b1dbcfcef2e4265465fad46beaa5ca2183cd76a4f0a9d779b108078d6c5"},"schema_version":"1.0"},"canonical_sha256":"7e63aba7011e84ec12c8a34458865ddce9da6f61d52113be9c65a7d028ac9226","source":{"kind":"arxiv","id":"2403.16875","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.16875","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"arxiv_version","alias_value":"2403.16875v1","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.16875","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_12","alias_value":"PZR2XJYBD2CO","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_16","alias_value":"PZR2XJYBD2COYEWI","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_8","alias_value":"PZR2XJYB","created_at":"2026-07-05T08:00:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:PZR2XJYBD2COYEWIUNCFRBS53T","target":"record","payload":{"canonical_record":{"source":{"id":"2403.16875","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T15:39:46Z","cross_cats_sorted":[],"title_canon_sha256":"381e768096a4772c5c9b637b33a037b13033816c1bd7b3822b98e3dea6081ea8","abstract_canon_sha256":"12a63b1dbcfcef2e4265465fad46beaa5ca2183cd76a4f0a9d779b108078d6c5"},"schema_version":"1.0"},"canonical_sha256":"7e63aba7011e84ec12c8a34458865ddce9da6f61d52113be9c65a7d028ac9226","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:00:21.962696Z","signature_b64":"/RfC2Bri/t04uvYD1w5FKCR78e0Tx2hAIkAbMHL6i8DNYOZmUD7eBGvggAH0EknF2+Qded+YAKgRBVzefjyiBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7e63aba7011e84ec12c8a34458865ddce9da6f61d52113be9c65a7d028ac9226","last_reissued_at":"2026-07-05T08:00:21.962216Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:00:21.962216Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.16875","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":"2026-07-05T08:00:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s8DpP81p30t2q3h5NLVr937wfKWhLNhkQCP3dx747+V2c86jPMI22SzyJQ4liK/v1MHalB81Mi5AW8dvWv41Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:46:13.718879Z"},"content_sha256":"000367770abad27a09904e57856dccf4da1679a2a889c30aad27295256f75c7f","schema_version":"1.0","event_id":"sha256:000367770abad27a09904e57856dccf4da1679a2a889c30aad27295256f75c7f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:PZR2XJYBD2COYEWIUNCFRBS53T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chen Yao, Guowei Shi, Hexiang Wei, Jing Wu, Ningbo Yang, Yangtao Ge, Yuntian Zhao, Zheng Zhu, Zhenzhong Jia, Zirui Wang","submitted_at":"2024-03-25T15:39:46Z","abstract_excerpt":"Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various motion patterns hinders the solutions of Simultaneous Localization And Mapping (SLAM), especially when confronting non-geometric hazards in demanding landscapes. In this paper, we first propose a Terrain-Aware multI-modaL (TAIL) dataset tailored to deformable and sandy terrains. It incorporates various types of robotic proprioception and distinct ground inte"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.16875","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/2403.16875/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":"2026-07-05T08:00:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rDahcJG82p92pMP59P4xTFNP3x+g8Whh66uQSHZwz5awojT2FGcvsurELEM4b0LvlF03rpqhkwfB5whX4s8vDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:46:13.719396Z"},"content_sha256":"d76cd882c42f6b4fe70dff32c6ec07113b665412150e534373492ec8b547a31c","schema_version":"1.0","event_id":"sha256:d76cd882c42f6b4fe70dff32c6ec07113b665412150e534373492ec8b547a31c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PZR2XJYBD2COYEWIUNCFRBS53T/bundle.json","state_url":"https://pith.science/pith/PZR2XJYBD2COYEWIUNCFRBS53T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PZR2XJYBD2COYEWIUNCFRBS53T/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":"2026-08-06T08:46:13Z","links":{"resolver":"https://pith.science/pith/PZR2XJYBD2COYEWIUNCFRBS53T","bundle":"https://pith.science/pith/PZR2XJYBD2COYEWIUNCFRBS53T/bundle.json","state":"https://pith.science/pith/PZR2XJYBD2COYEWIUNCFRBS53T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PZR2XJYBD2COYEWIUNCFRBS53T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:PZR2XJYBD2COYEWIUNCFRBS53T","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":"12a63b1dbcfcef2e4265465fad46beaa5ca2183cd76a4f0a9d779b108078d6c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T15:39:46Z","title_canon_sha256":"381e768096a4772c5c9b637b33a037b13033816c1bd7b3822b98e3dea6081ea8"},"schema_version":"1.0","source":{"id":"2403.16875","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.16875","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"arxiv_version","alias_value":"2403.16875v1","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.16875","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_12","alias_value":"PZR2XJYBD2CO","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_16","alias_value":"PZR2XJYBD2COYEWI","created_at":"2026-07-05T08:00:21Z"},{"alias_kind":"pith_short_8","alias_value":"PZR2XJYB","created_at":"2026-07-05T08:00:21Z"}],"graph_snapshots":[{"event_id":"sha256:d76cd882c42f6b4fe70dff32c6ec07113b665412150e534373492ec8b547a31c","target":"graph","created_at":"2026-07-05T08:00:21Z","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/2403.16875/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various motion patterns hinders the solutions of Simultaneous Localization And Mapping (SLAM), especially when confronting non-geometric hazards in demanding landscapes. In this paper, we first propose a Terrain-Aware multI-modaL (TAIL) dataset tailored to deformable and sandy terrains. It incorporates various types of robotic proprioception and distinct ground inte","authors_text":"Chen Yao, Guowei Shi, Hexiang Wei, Jing Wu, Ningbo Yang, Yangtao Ge, Yuntian Zhao, Zheng Zhu, Zhenzhong Jia, Zirui Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T15:39:46Z","title":"TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.16875","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":"sha256:000367770abad27a09904e57856dccf4da1679a2a889c30aad27295256f75c7f","target":"record","created_at":"2026-07-05T08:00:21Z","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":"12a63b1dbcfcef2e4265465fad46beaa5ca2183cd76a4f0a9d779b108078d6c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T15:39:46Z","title_canon_sha256":"381e768096a4772c5c9b637b33a037b13033816c1bd7b3822b98e3dea6081ea8"},"schema_version":"1.0","source":{"id":"2403.16875","kind":"arxiv","version":1}},"canonical_sha256":"7e63aba7011e84ec12c8a34458865ddce9da6f61d52113be9c65a7d028ac9226","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7e63aba7011e84ec12c8a34458865ddce9da6f61d52113be9c65a7d028ac9226","first_computed_at":"2026-07-05T08:00:21.962216Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:00:21.962216Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/RfC2Bri/t04uvYD1w5FKCR78e0Tx2hAIkAbMHL6i8DNYOZmUD7eBGvggAH0EknF2+Qded+YAKgRBVzefjyiBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:00:21.962696Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.16875","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:000367770abad27a09904e57856dccf4da1679a2a889c30aad27295256f75c7f","sha256:d76cd882c42f6b4fe70dff32c6ec07113b665412150e534373492ec8b547a31c"],"state_sha256":"9f8f2086f93916d7c0427a0e77782a1c75ece88e90869ea8f088cd624c7a06b8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6TDVM4Sa69reA7WhnO7ka1SGFX3o2z7N+d90w7gcCvUWjNwKg6wxBq3sOJqoUwqDH1jaCkXRfv+yRNasBxu5Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T08:46:13.724606Z","bundle_sha256":"f91b8e2f6e61ed6cff06143f12cdc70427db4fee9552121749e8f16a3cc0594c"}}