{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:6KNMFNXHJUBQ5TCLGDG7JGXV73","short_pith_number":"pith:6KNMFNXH","canonical_record":{"source":{"id":"2607.18794","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-21T07:15:36Z","cross_cats_sorted":[],"title_canon_sha256":"bded23ff4abe629a0060f4889e8b7da3634eea7b46f245226d5fd714407ced39","abstract_canon_sha256":"ef164604f192b7da49723073aa82977d6aee4725f8399f0c2a3c71e3d9cb5133"},"schema_version":"1.0"},"canonical_sha256":"f29ac2b6e74d030ecc4b30cdf49af5feeaf5cc774f13ec77b3abbbc6c2090fda","source":{"kind":"arxiv","id":"2607.18794","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.18794","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"arxiv_version","alias_value":"2607.18794v1","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.18794","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_12","alias_value":"6KNMFNXHJUBQ","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_16","alias_value":"6KNMFNXHJUBQ5TCL","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_8","alias_value":"6KNMFNXH","created_at":"2026-07-22T01:23:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:6KNMFNXHJUBQ5TCLGDG7JGXV73","target":"record","payload":{"canonical_record":{"source":{"id":"2607.18794","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-21T07:15:36Z","cross_cats_sorted":[],"title_canon_sha256":"bded23ff4abe629a0060f4889e8b7da3634eea7b46f245226d5fd714407ced39","abstract_canon_sha256":"ef164604f192b7da49723073aa82977d6aee4725f8399f0c2a3c71e3d9cb5133"},"schema_version":"1.0"},"canonical_sha256":"f29ac2b6e74d030ecc4b30cdf49af5feeaf5cc774f13ec77b3abbbc6c2090fda","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-22T01:23:12.199203Z","signature_b64":"f80iOnvxNt+R3TqDteEzi4/zruKsu5CYkozV4ivfIcgK65dlFcA2rKP0Kj7l0MI0y9H34KNcDCGSrMuifV+WBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f29ac2b6e74d030ecc4b30cdf49af5feeaf5cc774f13ec77b3abbbc6c2090fda","last_reissued_at":"2026-07-22T01:23:12.198427Z","signature_status":"signed_v1","first_computed_at":"2026-07-22T01:23:12.198427Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.18794","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-22T01:23:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aNFoulmN3mjInUv2q0F03iPJHG4vv85INmoNBq1YElXNQnpcP+s+C/+/KGVUSFbpGKuIA+XUm6kNaCosr2NzAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:37:23.439682Z"},"content_sha256":"152b11b202ec0c424a8b08e27789c443f4f617d97abd81a3d3987b0cb8db41d4","schema_version":"1.0","event_id":"sha256:152b11b202ec0c424a8b08e27789c443f4f617d97abd81a3d3987b0cb8db41d4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:6KNMFNXHJUBQ5TCLGDG7JGXV73","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Beyond Transformers: Linear Attention Policy for Open-Vocabulary Object Goal Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guoqi Li, Hongjuan Pei, Jiahong Zhang, Kexin Wang, Sijun Shen, Wei Wang, Yandong Zhang, Yifan Lin, Yuqi Pan","submitted_at":"2026-07-21T07:15:36Z","abstract_excerpt":"Open-Vocabulary Object Goal Navigation (OVON) requires agents to operate under partial observability, making effective internal state updates critical for navigation performance. This update is implemented by the policy network, where recent approaches adopt Transformer-based backbones with self-attention over a context window to integrate temporal information. However, our controlled experiments show that performance does not scale with context length under Transformer-based policies, questioning the suitability of self-attention for state integration in navigation. To this end, we propose Li"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.18794","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/2607.18794/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":"2026-07-22T01:23:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u2fPlierL2D42nqOFLBIPy/HoX2B4todCEVMOq6l5M+OnkOUSko+ztANYBKUlWDZ/MagXvOft2bbIQmzmMFrCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:37:23.440352Z"},"content_sha256":"0a6fc21bcf3eab803df76f2b8091c11265a44161b40f917736d6934b6f57fdcf","schema_version":"1.0","event_id":"sha256:0a6fc21bcf3eab803df76f2b8091c11265a44161b40f917736d6934b6f57fdcf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/bundle.json","state_url":"https://pith.science/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/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":"2026-08-06T09:37:23Z","links":{"resolver":"https://pith.science/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73","bundle":"https://pith.science/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/bundle.json","state":"https://pith.science/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6KNMFNXHJUBQ5TCLGDG7JGXV73/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:6KNMFNXHJUBQ5TCLGDG7JGXV73","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":"ef164604f192b7da49723073aa82977d6aee4725f8399f0c2a3c71e3d9cb5133","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-21T07:15:36Z","title_canon_sha256":"bded23ff4abe629a0060f4889e8b7da3634eea7b46f245226d5fd714407ced39"},"schema_version":"1.0","source":{"id":"2607.18794","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.18794","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"arxiv_version","alias_value":"2607.18794v1","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.18794","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_12","alias_value":"6KNMFNXHJUBQ","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_16","alias_value":"6KNMFNXHJUBQ5TCL","created_at":"2026-07-22T01:23:12Z"},{"alias_kind":"pith_short_8","alias_value":"6KNMFNXH","created_at":"2026-07-22T01:23:12Z"}],"graph_snapshots":[{"event_id":"sha256:0a6fc21bcf3eab803df76f2b8091c11265a44161b40f917736d6934b6f57fdcf","target":"graph","created_at":"2026-07-22T01:23:12Z","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/2607.18794/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Open-Vocabulary Object Goal Navigation (OVON) requires agents to operate under partial observability, making effective internal state updates critical for navigation performance. This update is implemented by the policy network, where recent approaches adopt Transformer-based backbones with self-attention over a context window to integrate temporal information. However, our controlled experiments show that performance does not scale with context length under Transformer-based policies, questioning the suitability of self-attention for state integration in navigation. To this end, we propose Li","authors_text":"Guoqi Li, Hongjuan Pei, Jiahong Zhang, Kexin Wang, Sijun Shen, Wei Wang, Yandong Zhang, Yifan Lin, Yuqi Pan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-21T07:15:36Z","title":"Beyond Transformers: Linear Attention Policy for Open-Vocabulary Object Goal Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.18794","kind":"arxiv","version":1},"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":"sha256:152b11b202ec0c424a8b08e27789c443f4f617d97abd81a3d3987b0cb8db41d4","target":"record","created_at":"2026-07-22T01:23:12Z","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":"ef164604f192b7da49723073aa82977d6aee4725f8399f0c2a3c71e3d9cb5133","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-21T07:15:36Z","title_canon_sha256":"bded23ff4abe629a0060f4889e8b7da3634eea7b46f245226d5fd714407ced39"},"schema_version":"1.0","source":{"id":"2607.18794","kind":"arxiv","version":1}},"canonical_sha256":"f29ac2b6e74d030ecc4b30cdf49af5feeaf5cc774f13ec77b3abbbc6c2090fda","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f29ac2b6e74d030ecc4b30cdf49af5feeaf5cc774f13ec77b3abbbc6c2090fda","first_computed_at":"2026-07-22T01:23:12.198427Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-22T01:23:12.198427Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"f80iOnvxNt+R3TqDteEzi4/zruKsu5CYkozV4ivfIcgK65dlFcA2rKP0Kj7l0MI0y9H34KNcDCGSrMuifV+WBQ==","signature_status":"signed_v1","signed_at":"2026-07-22T01:23:12.199203Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.18794","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:152b11b202ec0c424a8b08e27789c443f4f617d97abd81a3d3987b0cb8db41d4","sha256:0a6fc21bcf3eab803df76f2b8091c11265a44161b40f917736d6934b6f57fdcf"],"state_sha256":"6bf37046ccfbfe8e6a60e60922dcdd53f74802d48f1fc06cde6fd013efcd8ed6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wIluRoNbho5XPckoT2EwowaXfmPkxSXt1CXZOYqVID8UZRo/nZsZfou2hGhpUQwMdm6PQLyhv85moQZ9Al6iBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T09:37:23.447136Z","bundle_sha256":"a53689919794bf7f460b6ec2c9ce4ca8a8ccf98c3e86a4838a0a6e185c3014e0"}}