{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:6LT7BGAKOGNHYF4D5LEPVBWKGQ","short_pith_number":"pith:6LT7BGAK","canonical_record":{"source":{"id":"2411.17735","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-11-23T09:57:43Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"a592a972cf63d3f0b0551797c1c67de3b91ea9692c86e84c9f67564532a2304f","abstract_canon_sha256":"6fe98674e30425fd5997994fd58b8e16f82ca0fa535c7c4db63690fec078315a"},"schema_version":"1.0"},"canonical_sha256":"f2e7f0980a719a7c1783eac8fa86ca341bcb634f9188371a3d1dcf1edcf5fcdb","source":{"kind":"arxiv","id":"2411.17735","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.17735","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"arxiv_version","alias_value":"2411.17735v5","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.17735","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_12","alias_value":"6LT7BGAKOGNH","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_16","alias_value":"6LT7BGAKOGNHYF4D","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_8","alias_value":"6LT7BGAK","created_at":"2026-07-05T10:44:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:6LT7BGAKOGNHYF4D5LEPVBWKGQ","target":"record","payload":{"canonical_record":{"source":{"id":"2411.17735","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-11-23T09:57:43Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"a592a972cf63d3f0b0551797c1c67de3b91ea9692c86e84c9f67564532a2304f","abstract_canon_sha256":"6fe98674e30425fd5997994fd58b8e16f82ca0fa535c7c4db63690fec078315a"},"schema_version":"1.0"},"canonical_sha256":"f2e7f0980a719a7c1783eac8fa86ca341bcb634f9188371a3d1dcf1edcf5fcdb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:44:20.213775Z","signature_b64":"K4GVtAK6e2w7N3HBJwrU56oSJqoV+xUNsDgZ+zqJpYEe8CRHNHnqmMePonG5Qpj/wdnO0fQxVujWbmoULO5HDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f2e7f0980a719a7c1783eac8fa86ca341bcb634f9188371a3d1dcf1edcf5fcdb","last_reissued_at":"2026-07-05T10:44:20.213289Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:44:20.213289Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.17735","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:44:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AGh0jjgQUHAh6bTo1t3Nz0aE7HwXy6gj9pKsL85aMULe6C9tmY4dfefTLtrYjj9tJn6D+M2zX5+AvC8zV5uVAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T07:24:28.077394Z"},"content_sha256":"abafdfcf8b75224714bf76bbf3dc8cd6bce4c0d79e4bf059cfd1bc821f2eacf4","schema_version":"1.0","event_id":"sha256:abafdfcf8b75224714bf76bbf3dc8cd6bce4c0d79e4bf059cfd1bc821f2eacf4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:6LT7BGAKOGNHYF4D5LEPVBWKGQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"3D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Chuang Gan, Han Yang, Hongxin Zhang, Jiachen Zhou, Peihao Chen, Yilun Du, Yuncong Yang","submitted_at":"2024-11-23T09:57:43Z","abstract_excerpt":"Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene graphs, oversimplify spatial relationships by modeling scenes as isolated objects with restrictive textual relationships, making it difficult to address queries requiring nuanced spatial understanding. Moreover, these representations lack natural mechanisms for active exploration and memory management, hindering their application to lifelong autonomy. In th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.17735","kind":"arxiv","version":5},"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/2411.17735/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":"2026-07-05T10:44:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xTLdoDlZExKz05TteAN2QDM7m+mWyvXD+X9E9QTjc4ov+15m6kJEXhm0rOi+ZBsdNQ/yhv7yIHYtkU2ZjCFjAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T07:24:28.077768Z"},"content_sha256":"146a925ddc48a262f8c1f87e6e5fdc2162d2243535cf8c6715c6a1a526d488f9","schema_version":"1.0","event_id":"sha256:146a925ddc48a262f8c1f87e6e5fdc2162d2243535cf8c6715c6a1a526d488f9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/bundle.json","state_url":"https://pith.science/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/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":"2026-07-06T07:24:28Z","links":{"resolver":"https://pith.science/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ","bundle":"https://pith.science/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/bundle.json","state":"https://pith.science/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6LT7BGAKOGNHYF4D5LEPVBWKGQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:6LT7BGAKOGNHYF4D5LEPVBWKGQ","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":"6fe98674e30425fd5997994fd58b8e16f82ca0fa535c7c4db63690fec078315a","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-11-23T09:57:43Z","title_canon_sha256":"a592a972cf63d3f0b0551797c1c67de3b91ea9692c86e84c9f67564532a2304f"},"schema_version":"1.0","source":{"id":"2411.17735","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.17735","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"arxiv_version","alias_value":"2411.17735v5","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.17735","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_12","alias_value":"6LT7BGAKOGNH","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_16","alias_value":"6LT7BGAKOGNHYF4D","created_at":"2026-07-05T10:44:20Z"},{"alias_kind":"pith_short_8","alias_value":"6LT7BGAK","created_at":"2026-07-05T10:44:20Z"}],"graph_snapshots":[{"event_id":"sha256:146a925ddc48a262f8c1f87e6e5fdc2162d2243535cf8c6715c6a1a526d488f9","target":"graph","created_at":"2026-07-05T10:44:20Z","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/2411.17735/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene graphs, oversimplify spatial relationships by modeling scenes as isolated objects with restrictive textual relationships, making it difficult to address queries requiring nuanced spatial understanding. Moreover, these representations lack natural mechanisms for active exploration and memory management, hindering their application to lifelong autonomy. In th","authors_text":"Chuang Gan, Han Yang, Hongxin Zhang, Jiachen Zhou, Peihao Chen, Yilun Du, Yuncong Yang","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-11-23T09:57:43Z","title":"3D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.17735","kind":"arxiv","version":5},"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:abafdfcf8b75224714bf76bbf3dc8cd6bce4c0d79e4bf059cfd1bc821f2eacf4","target":"record","created_at":"2026-07-05T10:44:20Z","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":"6fe98674e30425fd5997994fd58b8e16f82ca0fa535c7c4db63690fec078315a","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-11-23T09:57:43Z","title_canon_sha256":"a592a972cf63d3f0b0551797c1c67de3b91ea9692c86e84c9f67564532a2304f"},"schema_version":"1.0","source":{"id":"2411.17735","kind":"arxiv","version":5}},"canonical_sha256":"f2e7f0980a719a7c1783eac8fa86ca341bcb634f9188371a3d1dcf1edcf5fcdb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2e7f0980a719a7c1783eac8fa86ca341bcb634f9188371a3d1dcf1edcf5fcdb","first_computed_at":"2026-07-05T10:44:20.213289Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:44:20.213289Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"K4GVtAK6e2w7N3HBJwrU56oSJqoV+xUNsDgZ+zqJpYEe8CRHNHnqmMePonG5Qpj/wdnO0fQxVujWbmoULO5HDw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:44:20.213775Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.17735","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:abafdfcf8b75224714bf76bbf3dc8cd6bce4c0d79e4bf059cfd1bc821f2eacf4","sha256:146a925ddc48a262f8c1f87e6e5fdc2162d2243535cf8c6715c6a1a526d488f9"],"state_sha256":"11c0e2c1f496ad6a3b776f2c8067c337811499c914f1d301ae40f4c589fb6dfc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"53798nynsgHWELfYviXeBmqwITBl3LbqMOgs/sGTO1bACBhHPrvqEuM6hNBwEBPauZUobs4UHD60q/8NBBNxCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T07:24:28.079935Z","bundle_sha256":"4b4525fac726234bc21da60343bb04f6262052cd7eaaad371b07b9687f5cb9bc"}}