{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:RXGUED7CU5B5AGIH5XFRZHJPWK","short_pith_number":"pith:RXGUED7C","canonical_record":{"source":{"id":"1810.03400","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-08T12:26:43Z","cross_cats_sorted":[],"title_canon_sha256":"25ba99030a64390413d0eecb74fdcb44e52735bcc3c1fbc2b59d4ee77c3dd8e3","abstract_canon_sha256":"45151a214dfdb9516d694c11defbebd371e98efd88ba4adf7a893308d4ba8f19"},"schema_version":"1.0"},"canonical_sha256":"8dcd420fe2a743d01907edcb1c9d2fb2a446d56c66cb34c4dab32cf2ef38dc2e","source":{"kind":"arxiv","id":"1810.03400","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.03400","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"arxiv_version","alias_value":"1810.03400v1","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.03400","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"pith_short_12","alias_value":"RXGUED7CU5B5","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"RXGUED7CU5B5AGIH","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"RXGUED7C","created_at":"2026-05-18T12:32:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:RXGUED7CU5B5AGIH5XFRZHJPWK","target":"record","payload":{"canonical_record":{"source":{"id":"1810.03400","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-08T12:26:43Z","cross_cats_sorted":[],"title_canon_sha256":"25ba99030a64390413d0eecb74fdcb44e52735bcc3c1fbc2b59d4ee77c3dd8e3","abstract_canon_sha256":"45151a214dfdb9516d694c11defbebd371e98efd88ba4adf7a893308d4ba8f19"},"schema_version":"1.0"},"canonical_sha256":"8dcd420fe2a743d01907edcb1c9d2fb2a446d56c66cb34c4dab32cf2ef38dc2e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:03:51.420412Z","signature_b64":"1tHmIu7fMnLeCh48828wwzLC1XXbt4y+9bhkXMWS+qQD0/4zGkzO/qBW2oWK4S4FyTzN03qHoyTm6X+s7J9GAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8dcd420fe2a743d01907edcb1c9d2fb2a446d56c66cb34c4dab32cf2ef38dc2e","last_reissued_at":"2026-05-18T00:03:51.419841Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:03:51.419841Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1810.03400","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":"2026-05-18T00:03:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GJMRDLhJIfmIQnvlKvgCwA6urCtJxhpQ2acYjWAzn4N295xnUTHdWA3Og1ft1SUozDEJs2N90/rcu3YhftTrBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T22:19:57.966545Z"},"content_sha256":"5d413b18a76d5758ecf2f3bea69e20eb3369ac51628dd6ce90caa7ff3e6c2348","schema_version":"1.0","event_id":"sha256:5d413b18a76d5758ecf2f3bea69e20eb3369ac51628dd6ce90caa7ff3e6c2348"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:RXGUED7CU5B5AGIH5XFRZHJPWK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AutOTranS: an Autonomous Open World Transportation System","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brayan S. Zapata-Impata, Hanumant Singh, Robert Platt, Vikrant Shah","submitted_at":"2018-10-08T12:26:43Z","abstract_excerpt":"Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them particularly challenging. In this paper we present an approach to solving the problem of picking up, transporting, and dropping off novel objects outdoors. Our solution integrates a navigation system, a grasp detection and planning system, and a custom task planner. We perform experiments that demonstrate that the system can be used to transport a wide clas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.03400","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":"2026-05-18T00:03:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zljDT4AT5GmJxNA0/WXsmobga9BlZ8r0q3mK4EiZRvd9LEl8TFATzs8wgN4EE11cwvgnxbnMBz/6J/YFSQ33CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T22:19:57.967130Z"},"content_sha256":"1dee805132e89d3a95706b3a9dea8e67100cb60b5057adcd34594ed32c82cd02","schema_version":"1.0","event_id":"sha256:1dee805132e89d3a95706b3a9dea8e67100cb60b5057adcd34594ed32c82cd02"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/bundle.json","state_url":"https://pith.science/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/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":"2026-06-06T22:19:57Z","links":{"resolver":"https://pith.science/pith/RXGUED7CU5B5AGIH5XFRZHJPWK","bundle":"https://pith.science/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/bundle.json","state":"https://pith.science/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RXGUED7CU5B5AGIH5XFRZHJPWK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:RXGUED7CU5B5AGIH5XFRZHJPWK","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":"45151a214dfdb9516d694c11defbebd371e98efd88ba4adf7a893308d4ba8f19","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-08T12:26:43Z","title_canon_sha256":"25ba99030a64390413d0eecb74fdcb44e52735bcc3c1fbc2b59d4ee77c3dd8e3"},"schema_version":"1.0","source":{"id":"1810.03400","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.03400","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"arxiv_version","alias_value":"1810.03400v1","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.03400","created_at":"2026-05-18T00:03:51Z"},{"alias_kind":"pith_short_12","alias_value":"RXGUED7CU5B5","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"RXGUED7CU5B5AGIH","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"RXGUED7C","created_at":"2026-05-18T12:32:50Z"}],"graph_snapshots":[{"event_id":"sha256:1dee805132e89d3a95706b3a9dea8e67100cb60b5057adcd34594ed32c82cd02","target":"graph","created_at":"2026-05-18T00:03:51Z","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":"Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them particularly challenging. In this paper we present an approach to solving the problem of picking up, transporting, and dropping off novel objects outdoors. Our solution integrates a navigation system, a grasp detection and planning system, and a custom task planner. We perform experiments that demonstrate that the system can be used to transport a wide clas","authors_text":"Brayan S. Zapata-Impata, Hanumant Singh, Robert Platt, Vikrant Shah","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-08T12:26:43Z","title":"AutOTranS: an Autonomous Open World Transportation System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.03400","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":"sha256:5d413b18a76d5758ecf2f3bea69e20eb3369ac51628dd6ce90caa7ff3e6c2348","target":"record","created_at":"2026-05-18T00:03:51Z","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":"45151a214dfdb9516d694c11defbebd371e98efd88ba4adf7a893308d4ba8f19","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-08T12:26:43Z","title_canon_sha256":"25ba99030a64390413d0eecb74fdcb44e52735bcc3c1fbc2b59d4ee77c3dd8e3"},"schema_version":"1.0","source":{"id":"1810.03400","kind":"arxiv","version":1}},"canonical_sha256":"8dcd420fe2a743d01907edcb1c9d2fb2a446d56c66cb34c4dab32cf2ef38dc2e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8dcd420fe2a743d01907edcb1c9d2fb2a446d56c66cb34c4dab32cf2ef38dc2e","first_computed_at":"2026-05-18T00:03:51.419841Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:03:51.419841Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1tHmIu7fMnLeCh48828wwzLC1XXbt4y+9bhkXMWS+qQD0/4zGkzO/qBW2oWK4S4FyTzN03qHoyTm6X+s7J9GAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:03:51.420412Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.03400","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5d413b18a76d5758ecf2f3bea69e20eb3369ac51628dd6ce90caa7ff3e6c2348","sha256:1dee805132e89d3a95706b3a9dea8e67100cb60b5057adcd34594ed32c82cd02"],"state_sha256":"6ea7a202d3dc1c60ef12e517f2dec51965650e46186c70eef616f4756223f760"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xPD0fIuemeDItKqPD8qnsU63BPgANE9gY1AsODwyoZobibDXQDzm0N176gcXYG0c+zdOqZSMWtDyySvyKxJADA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T22:19:57.970668Z","bundle_sha256":"840baec6be1399d2e2645739d101edf0900f76dbcb11f00b4979de1239f035fd"}}