{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:66Q775GPMETHI47KQWRU6ACBGQ","short_pith_number":"pith:66Q775GP","canonical_record":{"source":{"id":"2601.18537","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-26T14:42:31Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"3ee4e85d7f6436516b3780886619cfc0a0fce018a2b661e5abddc10ee52572a6","abstract_canon_sha256":"606fbdeed079b9e0eb3e847e31224c27f83b4fd6ab4c1d5baca2a41eb263f6e4"},"schema_version":"1.0"},"canonical_sha256":"f7a1fff4cf61267473ea85a34f0041340e9fb183126ecadcc40489a3c11f5291","source":{"kind":"arxiv","id":"2601.18537","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.18537","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"arxiv_version","alias_value":"2601.18537v3","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.18537","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_12","alias_value":"66Q775GPMETH","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_16","alias_value":"66Q775GPMETHI47K","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_8","alias_value":"66Q775GP","created_at":"2026-06-01T01:02:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:66Q775GPMETHI47KQWRU6ACBGQ","target":"record","payload":{"canonical_record":{"source":{"id":"2601.18537","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-26T14:42:31Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"3ee4e85d7f6436516b3780886619cfc0a0fce018a2b661e5abddc10ee52572a6","abstract_canon_sha256":"606fbdeed079b9e0eb3e847e31224c27f83b4fd6ab4c1d5baca2a41eb263f6e4"},"schema_version":"1.0"},"canonical_sha256":"f7a1fff4cf61267473ea85a34f0041340e9fb183126ecadcc40489a3c11f5291","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-01T01:02:30.314699Z","signature_b64":"vZN/xUYxaSyZOxiZPnk46P5yYhluwGNyde5iV6CcXTj/ZGP1wUPLPFedb2DPGvaouEopdrvgJx/J+D5LZET7Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f7a1fff4cf61267473ea85a34f0041340e9fb183126ecadcc40489a3c11f5291","last_reissued_at":"2026-06-01T01:02:30.313445Z","signature_status":"signed_v1","first_computed_at":"2026-06-01T01:02:30.313445Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2601.18537","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-01T01:02:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0EP5Bprdw2+xcm6g1W9WjLwNj+Q6yzWQr8j2jumiXTon0FByNxTrC3PharrzLobmZjXWa7XaJy/9+rW05jn4CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T00:24:22.206195Z"},"content_sha256":"3236eb3c90fdad5237f95ae62a21d561b28adc739936178b42d432985dafa865","schema_version":"1.0","event_id":"sha256:3236eb3c90fdad5237f95ae62a21d561b28adc739936178b42d432985dafa865"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:66Q775GPMETHI47KQWRU6ACBGQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SKETCH: Semantic Key-Point Conditioning for Long-Horizon Vessel Trajectory Prediction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Enmei Tu, Jianhua Z. Huang, Linyong Gan, Shuhang Chen, Wenxin Xu, Xingjian Li, Zimo Li","submitted_at":"2026-01-26T14:42:31Z","abstract_excerpt":"Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from complex navigation behaviors and environmental factors. Existing methods often struggle to maintain global directional consistency, leading to drifting or implausible trajectories when extrapolated over long time horizons. To address this issue, we propose a semantic-key-point-conditioned trajectory modeling framework, in which future trajectories are predicted by conditioning on a high-level Next Key Point (NKP) that captures navigational intent. This formulation decomposes long-horizon p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.18537","kind":"arxiv","version":3},"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/2601.18537/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":"2026-06-01T01:02:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KlsoFJdW++2aUVe+JSY+oDeHKBWkeLbdxRtilO+v5zxpxTEcikq6987/gn3uGcgOc+tF0Gqd0p1fvvAFQqaoAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T00:24:22.206936Z"},"content_sha256":"5eda3bf77a6b6d1991877b600868800dfac8c56b83ef058f485bc0758ed71475","schema_version":"1.0","event_id":"sha256:5eda3bf77a6b6d1991877b600868800dfac8c56b83ef058f485bc0758ed71475"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/66Q775GPMETHI47KQWRU6ACBGQ/bundle.json","state_url":"https://pith.science/pith/66Q775GPMETHI47KQWRU6ACBGQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/66Q775GPMETHI47KQWRU6ACBGQ/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":"2026-06-03T00:24:22Z","links":{"resolver":"https://pith.science/pith/66Q775GPMETHI47KQWRU6ACBGQ","bundle":"https://pith.science/pith/66Q775GPMETHI47KQWRU6ACBGQ/bundle.json","state":"https://pith.science/pith/66Q775GPMETHI47KQWRU6ACBGQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/66Q775GPMETHI47KQWRU6ACBGQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:66Q775GPMETHI47KQWRU6ACBGQ","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":"606fbdeed079b9e0eb3e847e31224c27f83b4fd6ab4c1d5baca2a41eb263f6e4","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-26T14:42:31Z","title_canon_sha256":"3ee4e85d7f6436516b3780886619cfc0a0fce018a2b661e5abddc10ee52572a6"},"schema_version":"1.0","source":{"id":"2601.18537","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.18537","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"arxiv_version","alias_value":"2601.18537v3","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.18537","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_12","alias_value":"66Q775GPMETH","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_16","alias_value":"66Q775GPMETHI47K","created_at":"2026-06-01T01:02:30Z"},{"alias_kind":"pith_short_8","alias_value":"66Q775GP","created_at":"2026-06-01T01:02:30Z"}],"graph_snapshots":[{"event_id":"sha256:5eda3bf77a6b6d1991877b600868800dfac8c56b83ef058f485bc0758ed71475","target":"graph","created_at":"2026-06-01T01:02:30Z","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/2601.18537/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from complex navigation behaviors and environmental factors. Existing methods often struggle to maintain global directional consistency, leading to drifting or implausible trajectories when extrapolated over long time horizons. To address this issue, we propose a semantic-key-point-conditioned trajectory modeling framework, in which future trajectories are predicted by conditioning on a high-level Next Key Point (NKP) that captures navigational intent. This formulation decomposes long-horizon p","authors_text":"Enmei Tu, Jianhua Z. Huang, Linyong Gan, Shuhang Chen, Wenxin Xu, Xingjian Li, Zimo Li","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-26T14:42:31Z","title":"SKETCH: Semantic Key-Point Conditioning for Long-Horizon Vessel Trajectory Prediction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.18537","kind":"arxiv","version":3},"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":"sha256:3236eb3c90fdad5237f95ae62a21d561b28adc739936178b42d432985dafa865","target":"record","created_at":"2026-06-01T01:02:30Z","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":"606fbdeed079b9e0eb3e847e31224c27f83b4fd6ab4c1d5baca2a41eb263f6e4","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-26T14:42:31Z","title_canon_sha256":"3ee4e85d7f6436516b3780886619cfc0a0fce018a2b661e5abddc10ee52572a6"},"schema_version":"1.0","source":{"id":"2601.18537","kind":"arxiv","version":3}},"canonical_sha256":"f7a1fff4cf61267473ea85a34f0041340e9fb183126ecadcc40489a3c11f5291","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f7a1fff4cf61267473ea85a34f0041340e9fb183126ecadcc40489a3c11f5291","first_computed_at":"2026-06-01T01:02:30.313445Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:02:30.313445Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vZN/xUYxaSyZOxiZPnk46P5yYhluwGNyde5iV6CcXTj/ZGP1wUPLPFedb2DPGvaouEopdrvgJx/J+D5LZET7Cw==","signature_status":"signed_v1","signed_at":"2026-06-01T01:02:30.314699Z","signed_message":"canonical_sha256_bytes"},"source_id":"2601.18537","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3236eb3c90fdad5237f95ae62a21d561b28adc739936178b42d432985dafa865","sha256:5eda3bf77a6b6d1991877b600868800dfac8c56b83ef058f485bc0758ed71475"],"state_sha256":"12959162f3ae684a4ba9909bd439173e56ab361b4be1e91b00807efbfd01a126"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MXwBlObP+OQyxoDJa+HI07imnnxX5dhPhEVjQGGxDo5D//DJW1HKisv6QsKOK4llQjPitaMNL97nHbPW0KA2CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T00:24:22.210185Z","bundle_sha256":"fb0ae434bbdb934fce1eb0c6c5e1d5155f7899d8afd43713eb245f91e1c2699e"}}