{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:XEU6YPHA6H3L7EVSX5IDK5WW2X","short_pith_number":"pith:XEU6YPHA","schema_version":"1.0","canonical_sha256":"b929ec3ce0f1f6bf92b2bf503576d6d5fa40cdd33439b4cfa848b4583d1471be","source":{"kind":"arxiv","id":"2506.20394","version":1},"attestation_state":"computed","paper":{"title":"SPARK: Graph-Based Online Semantic Integration System for Robot Task Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mimo Shirasaka, Tatsuya Matsushima, Yusuke Iwasawa, Yutaka Matsuo, Yuya Ikeda","submitted_at":"2025-06-25T13:02:59Z","abstract_excerpt":"The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric and semantic data. While SLAM handles geometric updates on 2D maps or 3D point clouds, online updates of semantic information remain unexplored. We attribute the challenge to the online scene graph representation, for its utility and scalability. Building on previous works regarding offline scene graph representations, we study online graph representations of semantic information in this work. We introduce SPARK: Spati"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2506.20394","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-25T13:02:59Z","cross_cats_sorted":[],"title_canon_sha256":"124702b396548763adb9d1287470aaddb6096800beb0d547cd63aa506e70606f","abstract_canon_sha256":"8aadde5a98990d5e89d63a8c7e417c31285704ee6ac7537692a7f9c4a1bc43f6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:27:04.893272Z","signature_b64":"gnZHlpHmH5FFx1mIT8Or5wOSoRYllU9b7nQDOcikJPxCme18/6L8es6G+S2yJVoWxK9I204+cSvcV2zvRFl9Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b929ec3ce0f1f6bf92b2bf503576d6d5fa40cdd33439b4cfa848b4583d1471be","last_reissued_at":"2026-07-05T11:27:04.892766Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:27:04.892766Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SPARK: Graph-Based Online Semantic Integration System for Robot Task Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mimo Shirasaka, Tatsuya Matsushima, Yusuke Iwasawa, Yutaka Matsuo, Yuya Ikeda","submitted_at":"2025-06-25T13:02:59Z","abstract_excerpt":"The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric and semantic data. While SLAM handles geometric updates on 2D maps or 3D point clouds, online updates of semantic information remain unexplored. We attribute the challenge to the online scene graph representation, for its utility and scalability. Building on previous works regarding offline scene graph representations, we study online graph representations of semantic information in this work. We introduce SPARK: Spati"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.20394","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/2506.20394/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2506.20394","created_at":"2026-07-05T11:27:04.892834+00:00"},{"alias_kind":"arxiv_version","alias_value":"2506.20394v1","created_at":"2026-07-05T11:27:04.892834+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.20394","created_at":"2026-07-05T11:27:04.892834+00:00"},{"alias_kind":"pith_short_12","alias_value":"XEU6YPHA6H3L","created_at":"2026-07-05T11:27:04.892834+00:00"},{"alias_kind":"pith_short_16","alias_value":"XEU6YPHA6H3L7EVS","created_at":"2026-07-05T11:27:04.892834+00:00"},{"alias_kind":"pith_short_8","alias_value":"XEU6YPHA","created_at":"2026-07-05T11:27:04.892834+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X","json":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X.json","graph_json":"https://pith.science/api/pith-number/XEU6YPHA6H3L7EVSX5IDK5WW2X/graph.json","events_json":"https://pith.science/api/pith-number/XEU6YPHA6H3L7EVSX5IDK5WW2X/events.json","paper":"https://pith.science/paper/XEU6YPHA"},"agent_actions":{"view_html":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X","download_json":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X.json","view_paper":"https://pith.science/paper/XEU6YPHA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2506.20394&json=true","fetch_graph":"https://pith.science/api/pith-number/XEU6YPHA6H3L7EVSX5IDK5WW2X/graph.json","fetch_events":"https://pith.science/api/pith-number/XEU6YPHA6H3L7EVSX5IDK5WW2X/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X/action/storage_attestation","attest_author":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X/action/author_attestation","sign_citation":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X/action/citation_signature","submit_replication":"https://pith.science/pith/XEU6YPHA6H3L7EVSX5IDK5WW2X/action/replication_record"}},"created_at":"2026-07-05T11:27:04.892834+00:00","updated_at":"2026-07-05T11:27:04.892834+00:00"}