{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:5MYXXHA6ZFWZJPQ4YFTDIHXHUD","short_pith_number":"pith:5MYXXHA6","canonical_record":{"source":{"id":"2009.14509","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-30T08:56:32Z","cross_cats_sorted":[],"title_canon_sha256":"bf85e663f829ad86478b93db80e93abfffd9bdba192faa92ce21ed49aa95fd0e","abstract_canon_sha256":"650971fbcb5beec90606853f2930d27478746970b541d0bddc71c530931207ad"},"schema_version":"1.0"},"canonical_sha256":"eb317b9c1ec96d94be1cc166341ee7a0ff9bb0d9cd1ff389977c8b7f19acad17","source":{"kind":"arxiv","id":"2009.14509","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.14509","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"arxiv_version","alias_value":"2009.14509v4","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.14509","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_12","alias_value":"5MYXXHA6ZFWZ","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_16","alias_value":"5MYXXHA6ZFWZJPQ4","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_8","alias_value":"5MYXXHA6","created_at":"2026-07-05T04:21:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:5MYXXHA6ZFWZJPQ4YFTDIHXHUD","target":"record","payload":{"canonical_record":{"source":{"id":"2009.14509","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-30T08:56:32Z","cross_cats_sorted":[],"title_canon_sha256":"bf85e663f829ad86478b93db80e93abfffd9bdba192faa92ce21ed49aa95fd0e","abstract_canon_sha256":"650971fbcb5beec90606853f2930d27478746970b541d0bddc71c530931207ad"},"schema_version":"1.0"},"canonical_sha256":"eb317b9c1ec96d94be1cc166341ee7a0ff9bb0d9cd1ff389977c8b7f19acad17","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:21:01.859409Z","signature_b64":"VDCaFWhCa7oaBhefcjhUe3J6VAJqxKrtfPeU8jP0CzmpYIB8JHkKcqkFvyrUDPdDi1XCpD5KyEjQjAlP79vXAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eb317b9c1ec96d94be1cc166341ee7a0ff9bb0d9cd1ff389977c8b7f19acad17","last_reissued_at":"2026-07-05T04:21:01.858973Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:21:01.858973Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2009.14509","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:21:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dwdh7o6LlwXgYfP9s2557cVQzOxntA+tSylG9sA93q5wtpwJzqmdAVsU2B9sVOZHzZKMUrAThme47+XiU85YCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:38:14.625315Z"},"content_sha256":"a9b54b5b90522e77f5517d336d81b128f95afb91a97054542d3061231baa01f8","schema_version":"1.0","event_id":"sha256:a9b54b5b90522e77f5517d336d81b128f95afb91a97054542d3061231baa01f8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:5MYXXHA6ZFWZJPQ4YFTDIHXHUD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Target-Driven Visual Navigation in Indoor Scenes via Generative Imitation Learning","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Jingxuan Dong, Jun Wang, Kai Xu, Qiaoyun Wu, Xiaoxi Gong","submitted_at":"2020-09-30T08:56:32Z","abstract_excerpt":"We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the robot to the target without relying on odometry or GPS at runtime. The system is learned by optimizing a combinational objective encompassing three key designs. First, we propose that an agent conceives the next observation before making an action decision. This is achieved by learning a variational generative module from expert demonstrations. We then prop"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.14509","kind":"arxiv","version":4},"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/2009.14509/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":"2026-07-05T04:21:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4nCna7x3+QjV8vXb1M6kMfk+jk89Yb5q1zMDmYoFaFBGJ6Hckjc9DAGJ9J48J00rD5t12p06L7HgdfefE1y3CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:38:14.625796Z"},"content_sha256":"fac9385d04fe416f04b3be244521fb170d99cd6381b150053b3dbf34686779c7","schema_version":"1.0","event_id":"sha256:fac9385d04fe416f04b3be244521fb170d99cd6381b150053b3dbf34686779c7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/bundle.json","state_url":"https://pith.science/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/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":"2026-08-04T09:38:14Z","links":{"resolver":"https://pith.science/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD","bundle":"https://pith.science/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/bundle.json","state":"https://pith.science/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5MYXXHA6ZFWZJPQ4YFTDIHXHUD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:5MYXXHA6ZFWZJPQ4YFTDIHXHUD","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":"650971fbcb5beec90606853f2930d27478746970b541d0bddc71c530931207ad","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-30T08:56:32Z","title_canon_sha256":"bf85e663f829ad86478b93db80e93abfffd9bdba192faa92ce21ed49aa95fd0e"},"schema_version":"1.0","source":{"id":"2009.14509","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.14509","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"arxiv_version","alias_value":"2009.14509v4","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.14509","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_12","alias_value":"5MYXXHA6ZFWZ","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_16","alias_value":"5MYXXHA6ZFWZJPQ4","created_at":"2026-07-05T04:21:01Z"},{"alias_kind":"pith_short_8","alias_value":"5MYXXHA6","created_at":"2026-07-05T04:21:01Z"}],"graph_snapshots":[{"event_id":"sha256:fac9385d04fe416f04b3be244521fb170d99cd6381b150053b3dbf34686779c7","target":"graph","created_at":"2026-07-05T04:21:01Z","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/2009.14509/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the robot to the target without relying on odometry or GPS at runtime. The system is learned by optimizing a combinational objective encompassing three key designs. First, we propose that an agent conceives the next observation before making an action decision. This is achieved by learning a variational generative module from expert demonstrations. We then prop","authors_text":"Dinesh Manocha, Jingxuan Dong, Jun Wang, Kai Xu, Qiaoyun Wu, Xiaoxi Gong","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-30T08:56:32Z","title":"Towards Target-Driven Visual Navigation in Indoor Scenes via Generative Imitation Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.14509","kind":"arxiv","version":4},"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:a9b54b5b90522e77f5517d336d81b128f95afb91a97054542d3061231baa01f8","target":"record","created_at":"2026-07-05T04:21:01Z","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":"650971fbcb5beec90606853f2930d27478746970b541d0bddc71c530931207ad","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-30T08:56:32Z","title_canon_sha256":"bf85e663f829ad86478b93db80e93abfffd9bdba192faa92ce21ed49aa95fd0e"},"schema_version":"1.0","source":{"id":"2009.14509","kind":"arxiv","version":4}},"canonical_sha256":"eb317b9c1ec96d94be1cc166341ee7a0ff9bb0d9cd1ff389977c8b7f19acad17","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eb317b9c1ec96d94be1cc166341ee7a0ff9bb0d9cd1ff389977c8b7f19acad17","first_computed_at":"2026-07-05T04:21:01.858973Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:21:01.858973Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VDCaFWhCa7oaBhefcjhUe3J6VAJqxKrtfPeU8jP0CzmpYIB8JHkKcqkFvyrUDPdDi1XCpD5KyEjQjAlP79vXAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:21:01.859409Z","signed_message":"canonical_sha256_bytes"},"source_id":"2009.14509","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a9b54b5b90522e77f5517d336d81b128f95afb91a97054542d3061231baa01f8","sha256:fac9385d04fe416f04b3be244521fb170d99cd6381b150053b3dbf34686779c7"],"state_sha256":"eb1dde367b28b521214c48bf855eaf1d13ec58ad5cb01d1085bdcb93a89ce4cc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R/84ZSQjKS2L5vslbBwqJ2v+JkGKOrbyohIP1NJHKxrV3zVcvVRoYVdXfCpk9et9H0SkqLrqdjyOujmGEecwAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T09:38:14.630850Z","bundle_sha256":"7a41b8e2cbe3ada8d622c9366b2bbe0a2d63940bdd74dde8a419ba30b81303c3"}}