{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AKS7URUNXDMUUDR2J2ZDIXXXYZ","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":"69c6646cc9790de21e9742ff259d683f7384d9746d6138914ad78a000268303a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-29T08:47:55Z","title_canon_sha256":"eaba4250407601e58466d52ed693b5ab288593056b68421ff11e7adef2e41025"},"schema_version":"1.0","source":{"id":"2601.21409","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.21409","created_at":"2026-07-29T01:24:28Z"},{"alias_kind":"arxiv_version","alias_value":"2601.21409v3","created_at":"2026-07-29T01:24:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.21409","created_at":"2026-07-29T01:24:28Z"},{"alias_kind":"pith_short_12","alias_value":"AKS7URUNXDMU","created_at":"2026-07-29T01:24:28Z"},{"alias_kind":"pith_short_16","alias_value":"AKS7URUNXDMUUDR2","created_at":"2026-07-29T01:24:28Z"},{"alias_kind":"pith_short_8","alias_value":"AKS7URUN","created_at":"2026-07-29T01:24:28Z"}],"graph_snapshots":[{"event_id":"sha256:c2123fcff1e7257697afd056cc3a5718422a3b656d2616247fe8e519f80eb297","target":"graph","created_at":"2026-07-29T01:24:28Z","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/2601.21409/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Adaptive navigation in unfamiliar indoor environments is crucial for household service robots. Despite advances in zero-shot perception and reasoning from vision-language models, existing navigation systems still rely on single-pass scoring at the decision layer, leading to overconfident long-horizon errors and redundant exploration. To tackle these problems, we propose Dual-Stance Cooperative Debate Navigation (DSCD-Nav), a decision mechanism that replaces one-shot scoring with stance-based cross-checking and evidence-aware arbitration to improve action reliability under partial observability","authors_text":"Cheng Deng, Chenghao Xu, Jiayi Chai, Kun Wei, Qi Liu, Weitao An, Xu Yang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-29T08:47:55Z","title":"DSCD-Nav: Dual-Stance Cooperative Debate for Object Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.21409","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:eeaaba687e42add67a9938647a6f173ba837d669e4ecf9aee820f06d4209ef0a","target":"record","created_at":"2026-07-29T01:24:28Z","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":"69c6646cc9790de21e9742ff259d683f7384d9746d6138914ad78a000268303a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-29T08:47:55Z","title_canon_sha256":"eaba4250407601e58466d52ed693b5ab288593056b68421ff11e7adef2e41025"},"schema_version":"1.0","source":{"id":"2601.21409","kind":"arxiv","version":3}},"canonical_sha256":"02a5fa468db8d94a0e3a4eb2345ef7c641b9ba5f4cf5995580add996927d8fdd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"02a5fa468db8d94a0e3a4eb2345ef7c641b9ba5f4cf5995580add996927d8fdd","first_computed_at":"2026-07-29T01:24:28.611659Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-29T01:24:28.611659Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cVKSDy20wigSre0cbLd5vC5bTJYjaLC0LIdex5bL+TcbfZEBYfQEMpC0qrkfK5ctQ+mWQEMhgAEXa87Tq/tLAg==","signature_status":"signed_v1","signed_at":"2026-07-29T01:24:28.612611Z","signed_message":"canonical_sha256_bytes"},"source_id":"2601.21409","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eeaaba687e42add67a9938647a6f173ba837d669e4ecf9aee820f06d4209ef0a","sha256:c2123fcff1e7257697afd056cc3a5718422a3b656d2616247fe8e519f80eb297"],"state_sha256":"69d1f7cfec151639b59aaeffdc73e5117ec33b40dd65eafd58972c52b95441dd"}