{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:6LGSRT2JEPAFAVVD63752OFCIM","short_pith_number":"pith:6LGSRT2J","canonical_record":{"source":{"id":"2301.10121","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-24T16:41:36Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"1c5eb5fc967cfba624cf47e60aa7ac6fc20e34ce711c3369e87cf0a75850ea90","abstract_canon_sha256":"042e8869cdc67ab0e17747f8e3526eb707f2cb27ef055b42520aa660163ed34b"},"schema_version":"1.0"},"canonical_sha256":"f2cd28cf4923c05056a3f6ffdd38a2433a393bf4646b2430348fdad07fd16757","source":{"kind":"arxiv","id":"2301.10121","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.10121","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"arxiv_version","alias_value":"2301.10121v2","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.10121","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_12","alias_value":"6LGSRT2JEPAF","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_16","alias_value":"6LGSRT2JEPAFAVVD","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_8","alias_value":"6LGSRT2J","created_at":"2026-07-05T06:06:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:6LGSRT2JEPAFAVVD63752OFCIM","target":"record","payload":{"canonical_record":{"source":{"id":"2301.10121","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-24T16:41:36Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"1c5eb5fc967cfba624cf47e60aa7ac6fc20e34ce711c3369e87cf0a75850ea90","abstract_canon_sha256":"042e8869cdc67ab0e17747f8e3526eb707f2cb27ef055b42520aa660163ed34b"},"schema_version":"1.0"},"canonical_sha256":"f2cd28cf4923c05056a3f6ffdd38a2433a393bf4646b2430348fdad07fd16757","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:06:57.388101Z","signature_b64":"pSAnAWQ4PNdXsvOWuUWiduDVr8rapPraMOJnGel9n1uXeRkYHjodSWQOPZ7h78ggVRqu3LbH2p7UGbAUB0ZvAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f2cd28cf4923c05056a3f6ffdd38a2433a393bf4646b2430348fdad07fd16757","last_reissued_at":"2026-07-05T06:06:57.387697Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:06:57.387697Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.10121","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:06:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u4yvYfLd5BcBiheqOwQmWOzVkxXkzVX8PreYBK9sQdMuju9uIKtkx+SuSqQ56orjvp6S64aLsjtOtBunLxd1Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T18:35:24.608910Z"},"content_sha256":"7fa2aa89119384fb759d1536f88071664497eb9184b6497eb1f7d00eb4d44dd5","schema_version":"1.0","event_id":"sha256:7fa2aa89119384fb759d1536f88071664497eb9184b6497eb1f7d00eb4d44dd5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:6LGSRT2JEPAFAVVD63752OFCIM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Generalized Object Search","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Kaiyu Zheng","submitted_at":"2023-01-24T16:41:36Z","abstract_excerpt":"Future collaborative robots must be capable of finding objects. As such a fundamental skill, we expect object search to eventually become an off-the-shelf capability for any robot, similar to e.g., object detection, SLAM, and motion planning. However, existing approaches either make unrealistic compromises (e.g., reduce the problem from 3D to 2D), resort to ad-hoc, greedy search strategies, or attempt to learn end-to-end policies in simulation that are yet to generalize across real robots and environments. This thesis argues that through using Partially Observable Markov Decision Processes (PO"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.10121","kind":"arxiv","version":2},"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/2301.10121/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":"2026-07-05T06:06:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+g/huiwdBSpDLg1nXs84dR+FO8AEdeWKeJBMpf5oeXZiXfpgqeLa1hvB4e4HLTX+m6Gu7JArBZ6l+TQgddvHBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T18:35:24.609456Z"},"content_sha256":"3cab3a45d9b54e13f0a777ee329e6643c2dbb8c094a85463adbc561215a686e6","schema_version":"1.0","event_id":"sha256:3cab3a45d9b54e13f0a777ee329e6643c2dbb8c094a85463adbc561215a686e6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6LGSRT2JEPAFAVVD63752OFCIM/bundle.json","state_url":"https://pith.science/pith/6LGSRT2JEPAFAVVD63752OFCIM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6LGSRT2JEPAFAVVD63752OFCIM/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":"2026-08-07T18:35:24Z","links":{"resolver":"https://pith.science/pith/6LGSRT2JEPAFAVVD63752OFCIM","bundle":"https://pith.science/pith/6LGSRT2JEPAFAVVD63752OFCIM/bundle.json","state":"https://pith.science/pith/6LGSRT2JEPAFAVVD63752OFCIM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6LGSRT2JEPAFAVVD63752OFCIM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:6LGSRT2JEPAFAVVD63752OFCIM","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":"042e8869cdc67ab0e17747f8e3526eb707f2cb27ef055b42520aa660163ed34b","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-24T16:41:36Z","title_canon_sha256":"1c5eb5fc967cfba624cf47e60aa7ac6fc20e34ce711c3369e87cf0a75850ea90"},"schema_version":"1.0","source":{"id":"2301.10121","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.10121","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"arxiv_version","alias_value":"2301.10121v2","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.10121","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_12","alias_value":"6LGSRT2JEPAF","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_16","alias_value":"6LGSRT2JEPAFAVVD","created_at":"2026-07-05T06:06:57Z"},{"alias_kind":"pith_short_8","alias_value":"6LGSRT2J","created_at":"2026-07-05T06:06:57Z"}],"graph_snapshots":[{"event_id":"sha256:3cab3a45d9b54e13f0a777ee329e6643c2dbb8c094a85463adbc561215a686e6","target":"graph","created_at":"2026-07-05T06:06:57Z","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/2301.10121/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Future collaborative robots must be capable of finding objects. As such a fundamental skill, we expect object search to eventually become an off-the-shelf capability for any robot, similar to e.g., object detection, SLAM, and motion planning. However, existing approaches either make unrealistic compromises (e.g., reduce the problem from 3D to 2D), resort to ad-hoc, greedy search strategies, or attempt to learn end-to-end policies in simulation that are yet to generalize across real robots and environments. This thesis argues that through using Partially Observable Markov Decision Processes (PO","authors_text":"Kaiyu Zheng","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-24T16:41:36Z","title":"Generalized Object Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.10121","kind":"arxiv","version":2},"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":"sha256:7fa2aa89119384fb759d1536f88071664497eb9184b6497eb1f7d00eb4d44dd5","target":"record","created_at":"2026-07-05T06:06:57Z","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":"042e8869cdc67ab0e17747f8e3526eb707f2cb27ef055b42520aa660163ed34b","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-24T16:41:36Z","title_canon_sha256":"1c5eb5fc967cfba624cf47e60aa7ac6fc20e34ce711c3369e87cf0a75850ea90"},"schema_version":"1.0","source":{"id":"2301.10121","kind":"arxiv","version":2}},"canonical_sha256":"f2cd28cf4923c05056a3f6ffdd38a2433a393bf4646b2430348fdad07fd16757","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2cd28cf4923c05056a3f6ffdd38a2433a393bf4646b2430348fdad07fd16757","first_computed_at":"2026-07-05T06:06:57.387697Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:06:57.387697Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pSAnAWQ4PNdXsvOWuUWiduDVr8rapPraMOJnGel9n1uXeRkYHjodSWQOPZ7h78ggVRqu3LbH2p7UGbAUB0ZvAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:06:57.388101Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.10121","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7fa2aa89119384fb759d1536f88071664497eb9184b6497eb1f7d00eb4d44dd5","sha256:3cab3a45d9b54e13f0a777ee329e6643c2dbb8c094a85463adbc561215a686e6"],"state_sha256":"3e92def12d971d7f7f3950f3e5c9bdab8e2d5f587976001cb3fa55892a54cee5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x17bxd1MSdDwS4IlX5hY/t8c8MYMrz6kWTMZ9Uki6d3UV056P9UFK9bfFDN0sTLtu76JDXufgQ6OjITZ7EvGDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T18:35:24.616006Z","bundle_sha256":"de29c2a6590e5a9adadfbde3ae7847050381cfc374f523c11f6683e6257af030"}}