Pith Number

pith:4VEGZFNT

pith:2026:4VEGZFNTOR2UMZCWP5XPK6BUVQ

not attested not anchored not stored refs pending

A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration

Chen Wang, Denan Liang, Kuan Xu, Lihua Xie, Ruimeng Liu, Shenghai Yuan, Tongxing Jin, Yizhuo Yang

A modular vision-language navigation system separates sensing from reasoning to run efficiently on real robots.

arxiv:2604.21363 v2 · 2026-04-23 · cs.RO

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\usepackage{pith}
\pithnumber{4VEGZFNTOR2UMZCWP5XPK6BUVQ}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Extensive experiments in both simulation and real-world robotic platforms demonstrate improved navigation success and efficiency over existing VLN approaches, while maintaining real-time performance on resource-constrained hardware.

C2weakest assumption

Decoupling the system into asynchronous modules and decomposing the cognitive memory graph into subgraphs for VLM reasoning will preserve necessary information and avoid latency that harms performance in changing real-world environments.

C3one line summary

A modular VLN architecture builds a cognitive memory graph, decomposes it for VLM reasoning, and solves a weighted traveling repairman problem for context-aware exploration to achieve real-time performance and higher success on embedded hardware.

Receipt and verification

First computed	2026-05-20T00:03:12.289492Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e5486c95b374754664567f6ef57834ac0ffa1198553b2870800eb355074947ca

Aliases

arxiv: 2604.21363 · arxiv_version: 2604.21363v2 · doi: 10.48550/arxiv.2604.21363 · pith_short_12: 4VEGZFNTOR2U · pith_short_16: 4VEGZFNTOR2UMZCW · pith_short_8: 4VEGZFNT

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/4VEGZFNTOR2UMZCWP5XPK6BUVQ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e5486c95b374754664567f6ef57834ac0ffa1198553b2870800eb355074947ca

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3a1198714a4b77e49e8a36c00772ee2a025dd1bff69581e2af3cd4f82da41369",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-23T07:27:00Z",
    "title_canon_sha256": "5f32a143e15598b52a5ca30d548fbcd0014db9680435f45fe14b6b3ab2f1e744"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.21363",
    "kind": "arxiv",
    "version": 2
  }
}