{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:T2UIB455FZV4QNZ2JIAEXSY3JT","short_pith_number":"pith:T2UIB455","canonical_record":{"source":{"id":"2606.04534","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:17:57Z","cross_cats_sorted":[],"title_canon_sha256":"97f10e3e39907a5a42b2b891500bb84e78868297a528fe886e80e3317eca1b04","abstract_canon_sha256":"9cd4ac1fb3cec03cee9e06f8c2236ca45b6e5177cc31dfdd53ae1faafbfc168b"},"schema_version":"1.0"},"canonical_sha256":"9ea880f3bd2e6bc8373a4a004bcb1b4cc7138c539335525abb972c96704c3141","source":{"kind":"arxiv","id":"2606.04534","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04534","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04534v1","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04534","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_12","alias_value":"T2UIB455FZV4","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_16","alias_value":"T2UIB455FZV4QNZ2","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_8","alias_value":"T2UIB455","created_at":"2026-06-04T01:09:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:T2UIB455FZV4QNZ2JIAEXSY3JT","target":"record","payload":{"canonical_record":{"source":{"id":"2606.04534","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:17:57Z","cross_cats_sorted":[],"title_canon_sha256":"97f10e3e39907a5a42b2b891500bb84e78868297a528fe886e80e3317eca1b04","abstract_canon_sha256":"9cd4ac1fb3cec03cee9e06f8c2236ca45b6e5177cc31dfdd53ae1faafbfc168b"},"schema_version":"1.0"},"canonical_sha256":"9ea880f3bd2e6bc8373a4a004bcb1b4cc7138c539335525abb972c96704c3141","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:09:16.538261Z","signature_b64":"Aie5iXHH7E7+rNvM05kLetaPVho+MOKgCe3ZiFTC3d0PYg7OP2TffexkY/O8rmE8IMTHCpp5qTOQF3Gmzf5iDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9ea880f3bd2e6bc8373a4a004bcb1b4cc7138c539335525abb972c96704c3141","last_reissued_at":"2026-06-04T01:09:16.537539Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:09:16.537539Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.04534","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":"2026-06-04T01:09:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0JWr7q0e4MqVgmYNBlsBr12sJQmNvN6kkj0aznhwQxpONtGeuwBysXk/bd9vTEmh5OlUdr3FVP8ZbPzRLB57DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T11:39:12.668862Z"},"content_sha256":"89a1634b148536af84c4b10b054d216348c25a6e3c40254e4104ded9d3e2c46a","schema_version":"1.0","event_id":"sha256:89a1634b148536af84c4b10b054d216348c25a6e3c40254e4104ded9d3e2c46a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:T2UIB455FZV4QNZ2JIAEXSY3JT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MAD: Mapping-Aware World Models for Agile Quadrotor Flight","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyu Zhou, Ding Yu, Fang Deng, Gang Wang, Jian Sun, Jie Chen, Runqing Wang, Xinhong Zhang, Yunfan Ren","submitted_at":"2026-06-03T07:17:57Z","abstract_excerpt":"Agile quadrotor flight in cluttered scenes requires more than a reactive mapping from a depth image to a control command: the vehicle must remember which regions have been observed, infer nearby occupied space, and act under partial visibility and tight latency. In this paper, we present Mapping-Aware Dreamer (MAD), a geometry-aware world model for vision-based quadrotor flight. Instead of using raw-image reconstruction as the main self-supervised objective, MAD learns recurrent latent dynamics that reconstruct robocentric occupancy and visibility grid maps together with proprioceptive states."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04534","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/2606.04534/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":"2026-06-04T01:09:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9feVXud/b9mAVegt0k17Uq/C402Jr9wLhz3JaqB6dyQQjzra6FDkLpRh6Wc4VIbbF6ARFM6ijWacWlLBkHOyBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T11:39:12.669244Z"},"content_sha256":"4435819709e4dcccc770ca5e481383fdccb42a914afdc342fb0765ca77754ba8","schema_version":"1.0","event_id":"sha256:4435819709e4dcccc770ca5e481383fdccb42a914afdc342fb0765ca77754ba8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/bundle.json","state_url":"https://pith.science/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/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":"2026-06-05T11:39:12Z","links":{"resolver":"https://pith.science/pith/T2UIB455FZV4QNZ2JIAEXSY3JT","bundle":"https://pith.science/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/bundle.json","state":"https://pith.science/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T2UIB455FZV4QNZ2JIAEXSY3JT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:T2UIB455FZV4QNZ2JIAEXSY3JT","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":"9cd4ac1fb3cec03cee9e06f8c2236ca45b6e5177cc31dfdd53ae1faafbfc168b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:17:57Z","title_canon_sha256":"97f10e3e39907a5a42b2b891500bb84e78868297a528fe886e80e3317eca1b04"},"schema_version":"1.0","source":{"id":"2606.04534","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04534","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04534v1","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04534","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_12","alias_value":"T2UIB455FZV4","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_16","alias_value":"T2UIB455FZV4QNZ2","created_at":"2026-06-04T01:09:16Z"},{"alias_kind":"pith_short_8","alias_value":"T2UIB455","created_at":"2026-06-04T01:09:16Z"}],"graph_snapshots":[{"event_id":"sha256:4435819709e4dcccc770ca5e481383fdccb42a914afdc342fb0765ca77754ba8","target":"graph","created_at":"2026-06-04T01:09:16Z","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/2606.04534/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Agile quadrotor flight in cluttered scenes requires more than a reactive mapping from a depth image to a control command: the vehicle must remember which regions have been observed, infer nearby occupied space, and act under partial visibility and tight latency. In this paper, we present Mapping-Aware Dreamer (MAD), a geometry-aware world model for vision-based quadrotor flight. Instead of using raw-image reconstruction as the main self-supervised objective, MAD learns recurrent latent dynamics that reconstruct robocentric occupancy and visibility grid maps together with proprioceptive states.","authors_text":"Boyu Zhou, Ding Yu, Fang Deng, Gang Wang, Jian Sun, Jie Chen, Runqing Wang, Xinhong Zhang, Yunfan Ren","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:17:57Z","title":"MAD: Mapping-Aware World Models for Agile Quadrotor Flight"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04534","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":"sha256:89a1634b148536af84c4b10b054d216348c25a6e3c40254e4104ded9d3e2c46a","target":"record","created_at":"2026-06-04T01:09:16Z","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":"9cd4ac1fb3cec03cee9e06f8c2236ca45b6e5177cc31dfdd53ae1faafbfc168b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T07:17:57Z","title_canon_sha256":"97f10e3e39907a5a42b2b891500bb84e78868297a528fe886e80e3317eca1b04"},"schema_version":"1.0","source":{"id":"2606.04534","kind":"arxiv","version":1}},"canonical_sha256":"9ea880f3bd2e6bc8373a4a004bcb1b4cc7138c539335525abb972c96704c3141","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9ea880f3bd2e6bc8373a4a004bcb1b4cc7138c539335525abb972c96704c3141","first_computed_at":"2026-06-04T01:09:16.537539Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:09:16.537539Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Aie5iXHH7E7+rNvM05kLetaPVho+MOKgCe3ZiFTC3d0PYg7OP2TffexkY/O8rmE8IMTHCpp5qTOQF3Gmzf5iDg==","signature_status":"signed_v1","signed_at":"2026-06-04T01:09:16.538261Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.04534","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:89a1634b148536af84c4b10b054d216348c25a6e3c40254e4104ded9d3e2c46a","sha256:4435819709e4dcccc770ca5e481383fdccb42a914afdc342fb0765ca77754ba8"],"state_sha256":"4bb22802b9d73ecbd294fbe1744d687d44bfd345dd9be34c614e1dbddcee6f0b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kDSg56J1OVmAc/kI4/nvXrLHcMNV1/7GJeELEzM5PSNJ9DQIdrrtmf5KIBjlms59x3yxpGqxhv1aeOA9MxjODg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T11:39:12.671266Z","bundle_sha256":"7f982e97dde3e510d61a548e6ed5d0a78b146f5e1d04b4ec8a439bfb4f2ca6b0"}}