{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:XE2IC2QGWO363DBCFYUIUYNPYH","short_pith_number":"pith:XE2IC2QG","canonical_record":{"source":{"id":"2209.07896","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-16T12:41:43Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"214cbf001f44ccf53a6c4a426eadea856808521b22b4ee857fa719ba4e53bf4d","abstract_canon_sha256":"d29fb48b98d267d275542386102c8a7862d9fee2549a0bb3374a5ee412369382"},"schema_version":"1.0"},"canonical_sha256":"b934816a06b3b7ed8c222e288a61afc1d8a4944ddb332b5ce504ecfa37635196","source":{"kind":"arxiv","id":"2209.07896","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07896","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07896v2","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07896","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_12","alias_value":"XE2IC2QGWO36","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_16","alias_value":"XE2IC2QGWO363DBC","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_8","alias_value":"XE2IC2QG","created_at":"2026-07-05T06:30:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:XE2IC2QGWO363DBCFYUIUYNPYH","target":"record","payload":{"canonical_record":{"source":{"id":"2209.07896","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-16T12:41:43Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"214cbf001f44ccf53a6c4a426eadea856808521b22b4ee857fa719ba4e53bf4d","abstract_canon_sha256":"d29fb48b98d267d275542386102c8a7862d9fee2549a0bb3374a5ee412369382"},"schema_version":"1.0"},"canonical_sha256":"b934816a06b3b7ed8c222e288a61afc1d8a4944ddb332b5ce504ecfa37635196","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:30:02.037805Z","signature_b64":"uWPsraEXKx1SN7AvVz+zW9RVUw8r1x4UWT/JxLUNA9iquTb/2VLdaRfbOsS2wveYr/3kmvzLR/JaAZZpprpnBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b934816a06b3b7ed8c222e288a61afc1d8a4944ddb332b5ce504ecfa37635196","last_reissued_at":"2026-07-05T06:30:02.037303Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:30:02.037303Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.07896","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":"2026-07-05T06:30:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5YmBpCWgU18b4Igk7xjaF9PbufTngYkYLQ4r0y2Cc0w7CTh94V5Yqe4Ju3WOV9yr/TS+tg8AYQ9OdDZrMZp3DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:44:53.569974Z"},"content_sha256":"685aedb5c59c1a4fe87d5677cf9ec6a89798e46666f8802fc86d5495edf6babe","schema_version":"1.0","event_id":"sha256:685aedb5c59c1a4fe87d5677cf9ec6a89798e46666f8802fc86d5495edf6babe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:XE2IC2QGWO363DBCFYUIUYNPYH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Cesar Cadena, Javier Rodriguez-Puigvert, Lukas Schmid, Roland Siegwart, Samuel Looper","submitted_at":"2022-09-16T12:41:43Z","abstract_excerpt":"Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability to model and predict such changes is thus crucial for robot autonomy. In this work, we formalize the task of semantic scene variability estimation and identify three main varieties of semantic scene change: changes in the position of an object, its semantic state, or the composition of a scene as a whole. To represent this variability, we propose the Variabl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07896","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/2209.07896/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":"2026-07-05T06:30:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lg6s16UhBSS/4yK+FcXyX3D0AMCw73fFQUTu+P47qsAc2JALwOpt3sym2IKix+s9SQBKUrFPGKd4EVihFcg/DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:44:53.570986Z"},"content_sha256":"973a99ea698614590745d3b10d40be47e4917dd23518d83f584e6cea59cde4ef","schema_version":"1.0","event_id":"sha256:973a99ea698614590745d3b10d40be47e4917dd23518d83f584e6cea59cde4ef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XE2IC2QGWO363DBCFYUIUYNPYH/bundle.json","state_url":"https://pith.science/pith/XE2IC2QGWO363DBCFYUIUYNPYH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XE2IC2QGWO363DBCFYUIUYNPYH/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":"2026-08-04T18:44:53Z","links":{"resolver":"https://pith.science/pith/XE2IC2QGWO363DBCFYUIUYNPYH","bundle":"https://pith.science/pith/XE2IC2QGWO363DBCFYUIUYNPYH/bundle.json","state":"https://pith.science/pith/XE2IC2QGWO363DBCFYUIUYNPYH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XE2IC2QGWO363DBCFYUIUYNPYH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:XE2IC2QGWO363DBCFYUIUYNPYH","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":"d29fb48b98d267d275542386102c8a7862d9fee2549a0bb3374a5ee412369382","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-16T12:41:43Z","title_canon_sha256":"214cbf001f44ccf53a6c4a426eadea856808521b22b4ee857fa719ba4e53bf4d"},"schema_version":"1.0","source":{"id":"2209.07896","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07896","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07896v2","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07896","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_12","alias_value":"XE2IC2QGWO36","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_16","alias_value":"XE2IC2QGWO363DBC","created_at":"2026-07-05T06:30:02Z"},{"alias_kind":"pith_short_8","alias_value":"XE2IC2QG","created_at":"2026-07-05T06:30:02Z"}],"graph_snapshots":[{"event_id":"sha256:973a99ea698614590745d3b10d40be47e4917dd23518d83f584e6cea59cde4ef","target":"graph","created_at":"2026-07-05T06:30:02Z","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/2209.07896/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability to model and predict such changes is thus crucial for robot autonomy. In this work, we formalize the task of semantic scene variability estimation and identify three main varieties of semantic scene change: changes in the position of an object, its semantic state, or the composition of a scene as a whole. To represent this variability, we propose the Variabl","authors_text":"Cesar Cadena, Javier Rodriguez-Puigvert, Lukas Schmid, Roland Siegwart, Samuel Looper","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-16T12:41:43Z","title":"3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07896","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":"sha256:685aedb5c59c1a4fe87d5677cf9ec6a89798e46666f8802fc86d5495edf6babe","target":"record","created_at":"2026-07-05T06:30:02Z","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":"d29fb48b98d267d275542386102c8a7862d9fee2549a0bb3374a5ee412369382","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-16T12:41:43Z","title_canon_sha256":"214cbf001f44ccf53a6c4a426eadea856808521b22b4ee857fa719ba4e53bf4d"},"schema_version":"1.0","source":{"id":"2209.07896","kind":"arxiv","version":2}},"canonical_sha256":"b934816a06b3b7ed8c222e288a61afc1d8a4944ddb332b5ce504ecfa37635196","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b934816a06b3b7ed8c222e288a61afc1d8a4944ddb332b5ce504ecfa37635196","first_computed_at":"2026-07-05T06:30:02.037303Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:30:02.037303Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uWPsraEXKx1SN7AvVz+zW9RVUw8r1x4UWT/JxLUNA9iquTb/2VLdaRfbOsS2wveYr/3kmvzLR/JaAZZpprpnBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:30:02.037805Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.07896","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:685aedb5c59c1a4fe87d5677cf9ec6a89798e46666f8802fc86d5495edf6babe","sha256:973a99ea698614590745d3b10d40be47e4917dd23518d83f584e6cea59cde4ef"],"state_sha256":"663fcec8f3c3e0bc8d504f1b9a035dc43084d3e879ded422d07063795fead3f2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v8Zta+GItnvpxuhbJNUsz30zrORuWL304RbmGi40sFJYFRn6uRpL9/2awH/Zij4A1uY8uLqCiZhTNJWzsCOnCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T18:44:53.582896Z","bundle_sha256":"bdfe4635e184bc7041563231e32005f84b1f324d32cdf722aa8c0f72f7a83167"}}