{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:TQJBSQDXYXGQW45WUTBINSWTCZ","short_pith_number":"pith:TQJBSQDX","canonical_record":{"source":{"id":"2505.00432","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-01T10:01:43Z","cross_cats_sorted":[],"title_canon_sha256":"8fb4a29f860b5db77516df4db5d4870d753b8587b310e42cc3bd9509b2ce0fb7","abstract_canon_sha256":"8c2d224fe34d2718cbb5b9d1a01f9f83d72aa6c9fedb962b87015b8b15dd0609"},"schema_version":"1.0"},"canonical_sha256":"9c12194077c5cd0b73b6a4c286cad316798209f83eda306a379b546990e67237","source":{"kind":"arxiv","id":"2505.00432","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.00432","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.00432v1","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.00432","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_12","alias_value":"TQJBSQDXYXGQ","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_16","alias_value":"TQJBSQDXYXGQW45W","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_8","alias_value":"TQJBSQDX","created_at":"2026-07-05T10:57:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:TQJBSQDXYXGQW45WUTBINSWTCZ","target":"record","payload":{"canonical_record":{"source":{"id":"2505.00432","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-01T10:01:43Z","cross_cats_sorted":[],"title_canon_sha256":"8fb4a29f860b5db77516df4db5d4870d753b8587b310e42cc3bd9509b2ce0fb7","abstract_canon_sha256":"8c2d224fe34d2718cbb5b9d1a01f9f83d72aa6c9fedb962b87015b8b15dd0609"},"schema_version":"1.0"},"canonical_sha256":"9c12194077c5cd0b73b6a4c286cad316798209f83eda306a379b546990e67237","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:57:13.553591Z","signature_b64":"FZl23lpMUXKxi4T3Szd1B0PYpwRKtqDRiOQEEoseBGU1T07o3oob2MCVIt8zopWLVaK0jwd2Bb1Kj+3rv+VdDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c12194077c5cd0b73b6a4c286cad316798209f83eda306a379b546990e67237","last_reissued_at":"2026-07-05T10:57:13.553087Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:57:13.553087Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.00432","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":"2026-07-05T10:57:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cDLB3Xm0NrVlqSKGK2jnfOjmWIloClWG69Mr8x3EorVaYEekO1ikL3+lritqfd4aNVHBRBOuOGlNoLYS1VZlCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T16:50:55.988294Z"},"content_sha256":"eb1c9377837839a723299d5c4a0948a9bdfdb1d9aa212f78a564c1d591d40688","schema_version":"1.0","event_id":"sha256:eb1c9377837839a723299d5c4a0948a9bdfdb1d9aa212f78a564c1d591d40688"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:TQJBSQDXYXGQW45WUTBINSWTCZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Neural Network Mode for PX4 on Embedded Flight Controllers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kostas Alexis, Mihir Kulkarni, Sindre M. Hegre, Welf Rehberg","submitted_at":"2025-05-01T10:01:43Z","abstract_excerpt":"This paper contributes an open-sourced implementation of a neural-network based controller framework within the PX4 stack. We develop a custom module for inference on the microcontroller while retaining all of the functionality of the PX4 autopilot. Policies trained in the Aerial Gym Simulator are converted to the TensorFlow Lite format and then built together with PX4 and flashed to the flight controller. The policies substitute the control-cascade within PX4 to offer an end-to-end position-setpoint tracking controller directly providing normalized motor RPM setpoints. Experiments conducted i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.00432","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/2505.00432/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":"2026-07-05T10:57:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bI95UQ8xZ4hFJaXi8D35g4XWLOoSNTWUBbL3YjTBQ/GR6Pi5Aye2sdD1LtyT5HWEEpFyqff3sqiNmF9mbD3rAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T16:50:55.988787Z"},"content_sha256":"6cab59afbaa4ca0a42eefe667befa7e932a90f65813df3e7afeacf4025f6ecbc","schema_version":"1.0","event_id":"sha256:6cab59afbaa4ca0a42eefe667befa7e932a90f65813df3e7afeacf4025f6ecbc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/bundle.json","state_url":"https://pith.science/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/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":"2026-08-16T16:50:55Z","links":{"resolver":"https://pith.science/pith/TQJBSQDXYXGQW45WUTBINSWTCZ","bundle":"https://pith.science/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/bundle.json","state":"https://pith.science/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TQJBSQDXYXGQW45WUTBINSWTCZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TQJBSQDXYXGQW45WUTBINSWTCZ","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":"8c2d224fe34d2718cbb5b9d1a01f9f83d72aa6c9fedb962b87015b8b15dd0609","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-01T10:01:43Z","title_canon_sha256":"8fb4a29f860b5db77516df4db5d4870d753b8587b310e42cc3bd9509b2ce0fb7"},"schema_version":"1.0","source":{"id":"2505.00432","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.00432","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.00432v1","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.00432","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_12","alias_value":"TQJBSQDXYXGQ","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_16","alias_value":"TQJBSQDXYXGQW45W","created_at":"2026-07-05T10:57:13Z"},{"alias_kind":"pith_short_8","alias_value":"TQJBSQDX","created_at":"2026-07-05T10:57:13Z"}],"graph_snapshots":[{"event_id":"sha256:6cab59afbaa4ca0a42eefe667befa7e932a90f65813df3e7afeacf4025f6ecbc","target":"graph","created_at":"2026-07-05T10:57:13Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2505.00432/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper contributes an open-sourced implementation of a neural-network based controller framework within the PX4 stack. We develop a custom module for inference on the microcontroller while retaining all of the functionality of the PX4 autopilot. Policies trained in the Aerial Gym Simulator are converted to the TensorFlow Lite format and then built together with PX4 and flashed to the flight controller. The policies substitute the control-cascade within PX4 to offer an end-to-end position-setpoint tracking controller directly providing normalized motor RPM setpoints. Experiments conducted i","authors_text":"Kostas Alexis, Mihir Kulkarni, Sindre M. Hegre, Welf Rehberg","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-01T10:01:43Z","title":"A Neural Network Mode for PX4 on Embedded Flight Controllers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.00432","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:eb1c9377837839a723299d5c4a0948a9bdfdb1d9aa212f78a564c1d591d40688","target":"record","created_at":"2026-07-05T10:57:13Z","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":"8c2d224fe34d2718cbb5b9d1a01f9f83d72aa6c9fedb962b87015b8b15dd0609","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-01T10:01:43Z","title_canon_sha256":"8fb4a29f860b5db77516df4db5d4870d753b8587b310e42cc3bd9509b2ce0fb7"},"schema_version":"1.0","source":{"id":"2505.00432","kind":"arxiv","version":1}},"canonical_sha256":"9c12194077c5cd0b73b6a4c286cad316798209f83eda306a379b546990e67237","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c12194077c5cd0b73b6a4c286cad316798209f83eda306a379b546990e67237","first_computed_at":"2026-07-05T10:57:13.553087Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:57:13.553087Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FZl23lpMUXKxi4T3Szd1B0PYpwRKtqDRiOQEEoseBGU1T07o3oob2MCVIt8zopWLVaK0jwd2Bb1Kj+3rv+VdDA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:57:13.553591Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.00432","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eb1c9377837839a723299d5c4a0948a9bdfdb1d9aa212f78a564c1d591d40688","sha256:6cab59afbaa4ca0a42eefe667befa7e932a90f65813df3e7afeacf4025f6ecbc"],"state_sha256":"aa6697eed6d6a97c8901b525c7d6cdfc3f76e4585e6ffb71cc3a6cdf4cb5c80d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7K+/nk3+2lJj9tq+CDdd0jmzegKncesBMKZ2akheaEDGFWxasY6HqytSYn1pdGpp1H3vZ/Wqm/XTXuKbF0GBCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T16:50:55.994242Z","bundle_sha256":"841562ba28061779b9aed27f1f5dfc820169ed91d62d85d09d9e2a65455a2ef7"}}