{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:T3XPXRI2YKALJ2W4Y225B27BYX","short_pith_number":"pith:T3XPXRI2","canonical_record":{"source":{"id":"1908.02949","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-08-08T06:51:30Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e753c71aa73be77b62d54a745edd318dd4887a38e5dd38655e0325f7adcccbc1","abstract_canon_sha256":"7b0ca3336c3d6aede810d83fd153dcc4da682d19f0b1887e0847290ce6fec0e6"},"schema_version":"1.0"},"canonical_sha256":"9eeefbc51ac280b4eadcc6b5d0ebe1c5f8992e421f596ff800e09a7cb17c9802","source":{"kind":"arxiv","id":"1908.02949","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.02949","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"arxiv_version","alias_value":"1908.02949v2","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.02949","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_12","alias_value":"T3XPXRI2YKAL","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_16","alias_value":"T3XPXRI2YKALJ2W4","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_8","alias_value":"T3XPXRI2","created_at":"2026-07-05T00:37:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:T3XPXRI2YKALJ2W4Y225B27BYX","target":"record","payload":{"canonical_record":{"source":{"id":"1908.02949","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-08-08T06:51:30Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e753c71aa73be77b62d54a745edd318dd4887a38e5dd38655e0325f7adcccbc1","abstract_canon_sha256":"7b0ca3336c3d6aede810d83fd153dcc4da682d19f0b1887e0847290ce6fec0e6"},"schema_version":"1.0"},"canonical_sha256":"9eeefbc51ac280b4eadcc6b5d0ebe1c5f8992e421f596ff800e09a7cb17c9802","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:37:46.678123Z","signature_b64":"k3K3NSR74ZiMl16Jf3ctsYn3Z2poErfubxUCPEwZVyL9JtZSzGDsP5yy0+woxRpuaGOpzbSpcmILA8nOc7BqBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9eeefbc51ac280b4eadcc6b5d0ebe1c5f8992e421f596ff800e09a7cb17c9802","last_reissued_at":"2026-07-05T00:37:46.677644Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:37:46.677644Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.02949","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:37:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lgUeDr9NS66kZ5aX8/lCMa/IbDNdO7UM/UC+SjYsLsjVRCP6MLN1vDZRKTKv59Z0Nn6BZrm5eShF/Mlm/z/xAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T22:50:17.610196Z"},"content_sha256":"64488affee32449738941c75b673ed4356b8411d1accad1941f9890dba11439a","schema_version":"1.0","event_id":"sha256:64488affee32449738941c75b673ed4356b8411d1accad1941f9890dba11439a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:T3XPXRI2YKALJ2W4Y225B27BYX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.HC","authors_text":"Christian Lenz, Max Schwarz, Michael Weinmann, Patrick Stotko, Reinhard Klein, Stefan Krumpen, Sven Behnke","submitted_at":"2019-08-08T06:51:30Z","abstract_excerpt":"Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation experience. However, standard video-based approaches suffer from a limited degree of immersion and situation awareness due to the restriction to the camera view, which impacts the navigation. In this paper, we present a novel VR-based practical system for immersive robot teleoperation and scene exploration. While being operated through the scene, a robot captu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.02949","kind":"arxiv","version":2},"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/1908.02949/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":"2026-07-05T00:37:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l7SDLa+AsbFdNrjD/H9GjEP9UI/ixAvAz0dXaOdT+Lr09kEs0uplP1eCZmBIna3/4d8/EqSH70JyVScP45Z2BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T22:50:17.611058Z"},"content_sha256":"3200e7f7f83f512b2a2508be2f687602c9426b01386d89c2fd2a632c7d496606","schema_version":"1.0","event_id":"sha256:3200e7f7f83f512b2a2508be2f687602c9426b01386d89c2fd2a632c7d496606"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T3XPXRI2YKALJ2W4Y225B27BYX/bundle.json","state_url":"https://pith.science/pith/T3XPXRI2YKALJ2W4Y225B27BYX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T3XPXRI2YKALJ2W4Y225B27BYX/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":"2026-08-12T22:50:17Z","links":{"resolver":"https://pith.science/pith/T3XPXRI2YKALJ2W4Y225B27BYX","bundle":"https://pith.science/pith/T3XPXRI2YKALJ2W4Y225B27BYX/bundle.json","state":"https://pith.science/pith/T3XPXRI2YKALJ2W4Y225B27BYX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T3XPXRI2YKALJ2W4Y225B27BYX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:T3XPXRI2YKALJ2W4Y225B27BYX","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":"7b0ca3336c3d6aede810d83fd153dcc4da682d19f0b1887e0847290ce6fec0e6","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-08-08T06:51:30Z","title_canon_sha256":"e753c71aa73be77b62d54a745edd318dd4887a38e5dd38655e0325f7adcccbc1"},"schema_version":"1.0","source":{"id":"1908.02949","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.02949","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"arxiv_version","alias_value":"1908.02949v2","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.02949","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_12","alias_value":"T3XPXRI2YKAL","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_16","alias_value":"T3XPXRI2YKALJ2W4","created_at":"2026-07-05T00:37:46Z"},{"alias_kind":"pith_short_8","alias_value":"T3XPXRI2","created_at":"2026-07-05T00:37:46Z"}],"graph_snapshots":[{"event_id":"sha256:3200e7f7f83f512b2a2508be2f687602c9426b01386d89c2fd2a632c7d496606","target":"graph","created_at":"2026-07-05T00:37:46Z","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/1908.02949/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation experience. However, standard video-based approaches suffer from a limited degree of immersion and situation awareness due to the restriction to the camera view, which impacts the navigation. In this paper, we present a novel VR-based practical system for immersive robot teleoperation and scene exploration. While being operated through the scene, a robot captu","authors_text":"Christian Lenz, Max Schwarz, Michael Weinmann, Patrick Stotko, Reinhard Klein, Stefan Krumpen, Sven Behnke","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-08-08T06:51:30Z","title":"A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.02949","kind":"arxiv","version":2},"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":"sha256:64488affee32449738941c75b673ed4356b8411d1accad1941f9890dba11439a","target":"record","created_at":"2026-07-05T00:37:46Z","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":"7b0ca3336c3d6aede810d83fd153dcc4da682d19f0b1887e0847290ce6fec0e6","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-08-08T06:51:30Z","title_canon_sha256":"e753c71aa73be77b62d54a745edd318dd4887a38e5dd38655e0325f7adcccbc1"},"schema_version":"1.0","source":{"id":"1908.02949","kind":"arxiv","version":2}},"canonical_sha256":"9eeefbc51ac280b4eadcc6b5d0ebe1c5f8992e421f596ff800e09a7cb17c9802","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9eeefbc51ac280b4eadcc6b5d0ebe1c5f8992e421f596ff800e09a7cb17c9802","first_computed_at":"2026-07-05T00:37:46.677644Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:37:46.677644Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k3K3NSR74ZiMl16Jf3ctsYn3Z2poErfubxUCPEwZVyL9JtZSzGDsP5yy0+woxRpuaGOpzbSpcmILA8nOc7BqBg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:37:46.678123Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.02949","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:64488affee32449738941c75b673ed4356b8411d1accad1941f9890dba11439a","sha256:3200e7f7f83f512b2a2508be2f687602c9426b01386d89c2fd2a632c7d496606"],"state_sha256":"90b46a9b2807553e2bba89f2ccc237e8362e677888b95e2a0cabc4b4ada3751e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wI90FD7IX7XSPyNpuyTp0TK8/u42wQ8x2EzrbJlqpxBX/0IGPdeI9X+2A5gQAMkgcr6eBTBgN66LMPl7EyQxCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T22:50:17.619259Z","bundle_sha256":"1503ea4f18c3f803033dcd3439a74167ad20504b228104848e2df2123516f1ed"}}