{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:AU2B67UQQRTINWJBMECQHGSB2N","short_pith_number":"pith:AU2B67UQ","canonical_record":{"source":{"id":"2501.01539","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-02T21:13:46Z","cross_cats_sorted":["cs.AI","cs.HC"],"title_canon_sha256":"6b368b21b469d31e7cb225bfc72457f568dd89f75ce0b8e8ac14ed6fdb7171c9","abstract_canon_sha256":"5f0e6a1085e288a5084f8d503d459f892e39777e1d63cd789a0877e9615c621a"},"schema_version":"1.0"},"canonical_sha256":"05341f7e90846686d9216105039a41d36300956feb5d366d1a1313621efe84f8","source":{"kind":"arxiv","id":"2501.01539","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.01539","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"arxiv_version","alias_value":"2501.01539v1","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.01539","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_12","alias_value":"AU2B67UQQRTI","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_16","alias_value":"AU2B67UQQRTINWJB","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_8","alias_value":"AU2B67UQ","created_at":"2026-07-05T09:56:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:AU2B67UQQRTINWJBMECQHGSB2N","target":"record","payload":{"canonical_record":{"source":{"id":"2501.01539","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-02T21:13:46Z","cross_cats_sorted":["cs.AI","cs.HC"],"title_canon_sha256":"6b368b21b469d31e7cb225bfc72457f568dd89f75ce0b8e8ac14ed6fdb7171c9","abstract_canon_sha256":"5f0e6a1085e288a5084f8d503d459f892e39777e1d63cd789a0877e9615c621a"},"schema_version":"1.0"},"canonical_sha256":"05341f7e90846686d9216105039a41d36300956feb5d366d1a1313621efe84f8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:56:26.423996Z","signature_b64":"A8FKMHf5PGOnuJExcfU427jODYrldQ5EJNLU2leUpUMyvGxNw/uveXK58O8wLHUxDeDU+xodprMB57WfPeiACg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"05341f7e90846686d9216105039a41d36300956feb5d366d1a1313621efe84f8","last_reissued_at":"2026-07-05T09:56:26.423499Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:56:26.423499Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2501.01539","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":"2026-07-05T09:56:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"30TBW0DcaBo8KIcdcJziUUfpGo4uRVaMNCd7izxlZIlTzxMsfU798HVpKBs3SQTCAzHMr0ujv6hL94StoudhCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:19:37.979213Z"},"content_sha256":"9d38324528af77061e2c91f9dedf3b4a146fe57bd996fe5c664a6ee2a02ba133","schema_version":"1.0","event_id":"sha256:9d38324528af77061e2c91f9dedf3b4a146fe57bd996fe5c664a6ee2a02ba133"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:AU2B67UQQRTINWJBMECQHGSB2N","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"In Search of a Lost Metric: Human Empowerment as a Pillar of Socially Conscious Navigation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.HC"],"primary_cat":"cs.RO","authors_text":"Almuatazbellah Boker, Behdad Chalaki, Ehsan Moradi-Pari, Hoda Eldardiry, Hossein Nourkhiz Mahjoub, Vaishnav Tadiparthi, Vasanth Reddy Baddam","submitted_at":"2025-01-02T21:13:46Z","abstract_excerpt":"In social robot navigation, traditional metrics like proxemics and behavior naturalness emphasize human comfort and adherence to social norms but often fail to capture an agent's autonomy and adaptability in dynamic environments. This paper introduces human empowerment, an information-theoretic concept that measures a human's ability to influence their future states and observe those changes, as a complementary metric for evaluating social compliance. This metric reveals how robot navigation policies can indirectly impact human empowerment. We present a framework that integrates human empowerm"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.01539","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/2501.01539/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":"2026-07-05T09:56:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7cuW6aDfDXXa8dsbmhspnsqDaogFHAEc2LLYIdamAe+NiKOCDA8e16ZwvdfqO+wIDRvw23Dd9yoyUwxyqu1uDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:19:37.979707Z"},"content_sha256":"a2e414644b77f5ce9ad05bf3d900a1a786c3faa4f7079c237e8d774186bb777c","schema_version":"1.0","event_id":"sha256:a2e414644b77f5ce9ad05bf3d900a1a786c3faa4f7079c237e8d774186bb777c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AU2B67UQQRTINWJBMECQHGSB2N/bundle.json","state_url":"https://pith.science/pith/AU2B67UQQRTINWJBMECQHGSB2N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AU2B67UQQRTINWJBMECQHGSB2N/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":"2026-08-03T16:19:37Z","links":{"resolver":"https://pith.science/pith/AU2B67UQQRTINWJBMECQHGSB2N","bundle":"https://pith.science/pith/AU2B67UQQRTINWJBMECQHGSB2N/bundle.json","state":"https://pith.science/pith/AU2B67UQQRTINWJBMECQHGSB2N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AU2B67UQQRTINWJBMECQHGSB2N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:AU2B67UQQRTINWJBMECQHGSB2N","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":"5f0e6a1085e288a5084f8d503d459f892e39777e1d63cd789a0877e9615c621a","cross_cats_sorted":["cs.AI","cs.HC"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-02T21:13:46Z","title_canon_sha256":"6b368b21b469d31e7cb225bfc72457f568dd89f75ce0b8e8ac14ed6fdb7171c9"},"schema_version":"1.0","source":{"id":"2501.01539","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.01539","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"arxiv_version","alias_value":"2501.01539v1","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.01539","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_12","alias_value":"AU2B67UQQRTI","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_16","alias_value":"AU2B67UQQRTINWJB","created_at":"2026-07-05T09:56:26Z"},{"alias_kind":"pith_short_8","alias_value":"AU2B67UQ","created_at":"2026-07-05T09:56:26Z"}],"graph_snapshots":[{"event_id":"sha256:a2e414644b77f5ce9ad05bf3d900a1a786c3faa4f7079c237e8d774186bb777c","target":"graph","created_at":"2026-07-05T09:56:26Z","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/2501.01539/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In social robot navigation, traditional metrics like proxemics and behavior naturalness emphasize human comfort and adherence to social norms but often fail to capture an agent's autonomy and adaptability in dynamic environments. This paper introduces human empowerment, an information-theoretic concept that measures a human's ability to influence their future states and observe those changes, as a complementary metric for evaluating social compliance. This metric reveals how robot navigation policies can indirectly impact human empowerment. We present a framework that integrates human empowerm","authors_text":"Almuatazbellah Boker, Behdad Chalaki, Ehsan Moradi-Pari, Hoda Eldardiry, Hossein Nourkhiz Mahjoub, Vaishnav Tadiparthi, Vasanth Reddy Baddam","cross_cats":["cs.AI","cs.HC"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-02T21:13:46Z","title":"In Search of a Lost Metric: Human Empowerment as a Pillar of Socially Conscious Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.01539","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":"sha256:9d38324528af77061e2c91f9dedf3b4a146fe57bd996fe5c664a6ee2a02ba133","target":"record","created_at":"2026-07-05T09:56:26Z","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":"5f0e6a1085e288a5084f8d503d459f892e39777e1d63cd789a0877e9615c621a","cross_cats_sorted":["cs.AI","cs.HC"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-02T21:13:46Z","title_canon_sha256":"6b368b21b469d31e7cb225bfc72457f568dd89f75ce0b8e8ac14ed6fdb7171c9"},"schema_version":"1.0","source":{"id":"2501.01539","kind":"arxiv","version":1}},"canonical_sha256":"05341f7e90846686d9216105039a41d36300956feb5d366d1a1313621efe84f8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"05341f7e90846686d9216105039a41d36300956feb5d366d1a1313621efe84f8","first_computed_at":"2026-07-05T09:56:26.423499Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:56:26.423499Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"A8FKMHf5PGOnuJExcfU427jODYrldQ5EJNLU2leUpUMyvGxNw/uveXK58O8wLHUxDeDU+xodprMB57WfPeiACg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:56:26.423996Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.01539","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9d38324528af77061e2c91f9dedf3b4a146fe57bd996fe5c664a6ee2a02ba133","sha256:a2e414644b77f5ce9ad05bf3d900a1a786c3faa4f7079c237e8d774186bb777c"],"state_sha256":"3775332033e14f0fe037069bbfef46de8544cfb2e841f851b0341feb45e99675"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AK1K8TnwO1GlziBTDZBc+MQo9Y3CU4uQzKsHtwPhRp3nffl+wVyv67tefC9KhqEVkafwItCJPIUJ2AKPtNQ3Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:19:37.983114Z","bundle_sha256":"3e6c88b84b692920e9e1dffae2c61f5fefaa6770caf081647b7c4383ae4d33de"}}