{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:6SW6PAELHSUJ2SPRNRFCQ3MBNJ","short_pith_number":"pith:6SW6PAEL","schema_version":"1.0","canonical_sha256":"f4ade7808b3ca89d49f16c4a286d816a7515674fdfdbcc5462a4055807b1395c","source":{"kind":"arxiv","id":"2605.23160","version":1},"attestation_state":"computed","paper":{"title":"Semantic-Aware Guided Drone Exploration for Language-Conditioned 3D Indoor Mapping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Avideh Zakhor, Nitin Vegesna","submitted_at":"2026-05-22T02:21:58Z","abstract_excerpt":"We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allowing semantic cues to reprioritize frontier selection. Building on the FALCON volumetric explorer, SAGE integrates Contrastive Language-Image Pre-training (CLIP) via four key components: object-centric embedding storage, a temporal cache that projects recent observations onto the free-unknown boundary, object frontiers for high-similarity detections, and a unified semantic-geometric planning cost. This cost function b"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2605.23160","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T02:21:58Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"5b2fa215a697de7a128d5225080dd5eef0f234126eb3f83ac535a383d5e0dd9f","abstract_canon_sha256":"9b4013b249b5dd6e24ab04304c70939fc8d3c978bef66d5b2fbbb81757b7d16b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-25T02:01:40.966398Z","signature_b64":"kUuC3GstD0OS8N3p/lvR06Ika1dSKyiuDuqYh+IGjNq6/QHwYdF50r3P24PNIjx8Ibfiu6Yk/E0fIy1Iy/JpAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f4ade7808b3ca89d49f16c4a286d816a7515674fdfdbcc5462a4055807b1395c","last_reissued_at":"2026-05-25T02:01:40.965795Z","signature_status":"signed_v1","first_computed_at":"2026-05-25T02:01:40.965795Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Semantic-Aware Guided Drone Exploration for Language-Conditioned 3D Indoor Mapping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Avideh Zakhor, Nitin Vegesna","submitted_at":"2026-05-22T02:21:58Z","abstract_excerpt":"We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allowing semantic cues to reprioritize frontier selection. Building on the FALCON volumetric explorer, SAGE integrates Contrastive Language-Image Pre-training (CLIP) via four key components: object-centric embedding storage, a temporal cache that projects recent observations onto the free-unknown boundary, object frontiers for high-similarity detections, and a unified semantic-geometric planning cost. This cost function b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23160","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/2605.23160/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2605.23160","created_at":"2026-05-25T02:01:40.965868+00:00"},{"alias_kind":"arxiv_version","alias_value":"2605.23160v1","created_at":"2026-05-25T02:01:40.965868+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.23160","created_at":"2026-05-25T02:01:40.965868+00:00"},{"alias_kind":"pith_short_12","alias_value":"6SW6PAELHSUJ","created_at":"2026-05-25T02:01:40.965868+00:00"},{"alias_kind":"pith_short_16","alias_value":"6SW6PAELHSUJ2SPR","created_at":"2026-05-25T02:01:40.965868+00:00"},{"alias_kind":"pith_short_8","alias_value":"6SW6PAEL","created_at":"2026-05-25T02:01:40.965868+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ","json":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ.json","graph_json":"https://pith.science/api/pith-number/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/graph.json","events_json":"https://pith.science/api/pith-number/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/events.json","paper":"https://pith.science/paper/6SW6PAEL"},"agent_actions":{"view_html":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ","download_json":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ.json","view_paper":"https://pith.science/paper/6SW6PAEL","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2605.23160&json=true","fetch_graph":"https://pith.science/api/pith-number/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/graph.json","fetch_events":"https://pith.science/api/pith-number/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/action/storage_attestation","attest_author":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/action/author_attestation","sign_citation":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/action/citation_signature","submit_replication":"https://pith.science/pith/6SW6PAELHSUJ2SPRNRFCQ3MBNJ/action/replication_record"}},"created_at":"2026-05-25T02:01:40.965868+00:00","updated_at":"2026-05-25T02:01:40.965868+00:00"}