{"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"}