{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:QZJPUI5DMIGSEKKVTZMDW3V5MU","short_pith_number":"pith:QZJPUI5D","canonical_record":{"source":{"id":"1604.03526","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-12T19:00:48Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e12f90d764d639fe696a4eb8e01c0b4481153ccdb883fc7876dde1720ad050b5","abstract_canon_sha256":"c6ee6f9ad6c0cf8318608bcf417cc0c22db58b53b133ed991ba37b368ab4bb16"},"schema_version":"1.0"},"canonical_sha256":"8652fa23a3620d2229559e583b6ebd652b0917b8a99529c20d7d1f2ff017b268","source":{"kind":"arxiv","id":"1604.03526","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.03526","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"arxiv_version","alias_value":"1604.03526v1","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.03526","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"pith_short_12","alias_value":"QZJPUI5DMIGS","created_at":"2026-05-18T12:30:41Z"},{"alias_kind":"pith_short_16","alias_value":"QZJPUI5DMIGSEKKV","created_at":"2026-05-18T12:30:41Z"},{"alias_kind":"pith_short_8","alias_value":"QZJPUI5D","created_at":"2026-05-18T12:30:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:QZJPUI5DMIGSEKKVTZMDW3V5MU","target":"record","payload":{"canonical_record":{"source":{"id":"1604.03526","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-12T19:00:48Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e12f90d764d639fe696a4eb8e01c0b4481153ccdb883fc7876dde1720ad050b5","abstract_canon_sha256":"c6ee6f9ad6c0cf8318608bcf417cc0c22db58b53b133ed991ba37b368ab4bb16"},"schema_version":"1.0"},"canonical_sha256":"8652fa23a3620d2229559e583b6ebd652b0917b8a99529c20d7d1f2ff017b268","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:17:13.254520Z","signature_b64":"DDv0ZEO4NnugSjHMgziP6uk1diGkw+tic4S1OsSLQSXptSGL8yJ/cXvjO5/HaiUysOQEPlSQo/1+eErupWPkAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8652fa23a3620d2229559e583b6ebd652b0917b8a99529c20d7d1f2ff017b268","last_reissued_at":"2026-05-18T01:17:13.253717Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:17:13.253717Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1604.03526","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":"2026-05-18T01:17:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QYllj3zCmX5wJ4I5+jkueOCV1zNq+Yfa/8IbtDUCXk+MiMvVPzsrr3EvxyqFuvtQRF5OAvs+qbbkZCLsSHWgAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T20:10:06.251293Z"},"content_sha256":"7591ffa77344fc516a0de19352b5b08bf6a99b159b71c2076418461006f8a746","schema_version":"1.0","event_id":"sha256:7591ffa77344fc516a0de19352b5b08bf6a99b159b71c2076418461006f8a746"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:QZJPUI5DMIGSEKKVTZMDW3V5MU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Spatiotemporal Articulated Models for Dynamic SLAM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Jason J. Corso, Madan Ravi Ganesh, Suren Kumar, Vikas Dhiman","submitted_at":"2016-04-12T19:00:48Z","abstract_excerpt":"We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions of an articulated object with high confidence because of the spatial and temporal structure. We demonstrate the effectiveness of the predictive model by incorporating it within a standard simultaneous localization and mapping (SLAM) pipeline for mapping and robot localization in previously unexplored dynamic environments. Our method is able to localize the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.03526","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":""},"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":"2026-05-18T01:17:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cdMna6GNQLl7dK862pDOU2RMp0dY8C2uJjCbi5u5MUfWSKlOj5cdvyENZz1u+5FMJAf1WTBpi9lC8d6ea0qeDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T20:10:06.251985Z"},"content_sha256":"c9b194049603aa794795411d5c2a6d94d473238fdeaa4114ea7761678d6d1f3f","schema_version":"1.0","event_id":"sha256:c9b194049603aa794795411d5c2a6d94d473238fdeaa4114ea7761678d6d1f3f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/bundle.json","state_url":"https://pith.science/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/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":"2026-05-26T20:10:06Z","links":{"resolver":"https://pith.science/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU","bundle":"https://pith.science/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/bundle.json","state":"https://pith.science/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QZJPUI5DMIGSEKKVTZMDW3V5MU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:QZJPUI5DMIGSEKKVTZMDW3V5MU","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":"c6ee6f9ad6c0cf8318608bcf417cc0c22db58b53b133ed991ba37b368ab4bb16","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-12T19:00:48Z","title_canon_sha256":"e12f90d764d639fe696a4eb8e01c0b4481153ccdb883fc7876dde1720ad050b5"},"schema_version":"1.0","source":{"id":"1604.03526","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.03526","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"arxiv_version","alias_value":"1604.03526v1","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.03526","created_at":"2026-05-18T01:17:13Z"},{"alias_kind":"pith_short_12","alias_value":"QZJPUI5DMIGS","created_at":"2026-05-18T12:30:41Z"},{"alias_kind":"pith_short_16","alias_value":"QZJPUI5DMIGSEKKV","created_at":"2026-05-18T12:30:41Z"},{"alias_kind":"pith_short_8","alias_value":"QZJPUI5D","created_at":"2026-05-18T12:30:41Z"}],"graph_snapshots":[{"event_id":"sha256:c9b194049603aa794795411d5c2a6d94d473238fdeaa4114ea7761678d6d1f3f","target":"graph","created_at":"2026-05-18T01:17:13Z","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"},"paper":{"abstract_excerpt":"We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions of an articulated object with high confidence because of the spatial and temporal structure. We demonstrate the effectiveness of the predictive model by incorporating it within a standard simultaneous localization and mapping (SLAM) pipeline for mapping and robot localization in previously unexplored dynamic environments. Our method is able to localize the ","authors_text":"Jason J. Corso, Madan Ravi Ganesh, Suren Kumar, Vikas Dhiman","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-12T19:00:48Z","title":"Spatiotemporal Articulated Models for Dynamic SLAM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.03526","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":"sha256:7591ffa77344fc516a0de19352b5b08bf6a99b159b71c2076418461006f8a746","target":"record","created_at":"2026-05-18T01:17:13Z","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":"c6ee6f9ad6c0cf8318608bcf417cc0c22db58b53b133ed991ba37b368ab4bb16","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-12T19:00:48Z","title_canon_sha256":"e12f90d764d639fe696a4eb8e01c0b4481153ccdb883fc7876dde1720ad050b5"},"schema_version":"1.0","source":{"id":"1604.03526","kind":"arxiv","version":1}},"canonical_sha256":"8652fa23a3620d2229559e583b6ebd652b0917b8a99529c20d7d1f2ff017b268","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8652fa23a3620d2229559e583b6ebd652b0917b8a99529c20d7d1f2ff017b268","first_computed_at":"2026-05-18T01:17:13.253717Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:17:13.253717Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DDv0ZEO4NnugSjHMgziP6uk1diGkw+tic4S1OsSLQSXptSGL8yJ/cXvjO5/HaiUysOQEPlSQo/1+eErupWPkAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:17:13.254520Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.03526","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7591ffa77344fc516a0de19352b5b08bf6a99b159b71c2076418461006f8a746","sha256:c9b194049603aa794795411d5c2a6d94d473238fdeaa4114ea7761678d6d1f3f"],"state_sha256":"2bb5b1ec8d9a5ef016ee8b505276baf55c1d29513b88f49f6514e641b162cd26"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XWWgLbWrZbIagPOWyfDNXVzdICkEJQ/gkp0HtBPll6rs5fYTClUrQDY+EbeHKq9ZQZnoSVfYdoATy3NgbPRpCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T20:10:06.255453Z","bundle_sha256":"9a4ffc7bbd965363cbd743f7d51b41891c72faac392a01bce1d42ef13c58fcc0"}}