{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:CKP7OMQF4OCK2WBF2YCV2L724E","short_pith_number":"pith:CKP7OMQF","canonical_record":{"source":{"id":"2602.12686","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T07:42:48Z","cross_cats_sorted":[],"title_canon_sha256":"8cc62052a1dc1eaf0a328c2b217056559def5b1903d3b25a3a512b7a1cd874ca","abstract_canon_sha256":"a49a182e8059307df999e8e1508c3443b22b9b93795ebe72c2f33d93d64e8a9d"},"schema_version":"1.0"},"canonical_sha256":"129ff73205e384ad5825d6055d2ffae12662e59bc39f92542f91d6d5c6c9aaa6","source":{"kind":"arxiv","id":"2602.12686","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.12686","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"arxiv_version","alias_value":"2602.12686v2","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.12686","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_12","alias_value":"CKP7OMQF4OCK","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_16","alias_value":"CKP7OMQF4OCK2WBF","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_8","alias_value":"CKP7OMQF","created_at":"2026-06-01T01:02:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:CKP7OMQF4OCK2WBF2YCV2L724E","target":"record","payload":{"canonical_record":{"source":{"id":"2602.12686","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T07:42:48Z","cross_cats_sorted":[],"title_canon_sha256":"8cc62052a1dc1eaf0a328c2b217056559def5b1903d3b25a3a512b7a1cd874ca","abstract_canon_sha256":"a49a182e8059307df999e8e1508c3443b22b9b93795ebe72c2f33d93d64e8a9d"},"schema_version":"1.0"},"canonical_sha256":"129ff73205e384ad5825d6055d2ffae12662e59bc39f92542f91d6d5c6c9aaa6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-01T01:02:34.267859Z","signature_b64":"3qy/weUf5tv2F0/7CWD6l5XAEqHA/7R0DfxNbrwcdikOX6WbxqMqessYQUdHuKc7IsL7VvOvma2Q66xllxHxBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"129ff73205e384ad5825d6055d2ffae12662e59bc39f92542f91d6d5c6c9aaa6","last_reissued_at":"2026-06-01T01:02:34.266962Z","signature_status":"signed_v1","first_computed_at":"2026-06-01T01:02:34.266962Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2602.12686","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":"2026-06-01T01:02:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ffB9ytMRAiG3dk0gLTzypM/2S3+n8OwuX6W0/AtMaJeBZcMBEMVhPHLD0LYyfwit1exYPzGTVygWWL1Iuk/zAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T04:21:10.848057Z"},"content_sha256":"5fe7def25634ee647c1ed15adab3f78cdd70235e30b0aeeda621e7d857dccb9f","schema_version":"1.0","event_id":"sha256:5fe7def25634ee647c1ed15adab3f78cdd70235e30b0aeeda621e7d857dccb9f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:CKP7OMQF4OCK2WBF2YCV2L724E","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SignScene: Visual Sign Grounding for Mapless Navigation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Benjamin Koh, David Hsu, Joel Loo, Nicky Zimmerman, Zishuo Wang","submitted_at":"2026-02-13T07:42:48Z","abstract_excerpt":"Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world. A central challenge lies in interpreting signs: real-world signs are diverse and complex, and their abstract semantic contents need to be grounded in the local 3D scene. We formalize this as sign grounding, the problem of mapping semantic instructions on signs to corresponding scene elements and navigational actions. Recent Vision-Language Models (VLMs) offer the semantic common-sense and reasoning capabilities req"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.12686","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/2602.12686/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":"2026-06-01T01:02:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sUtRjqx0G7FaYYk/+lIkAXfTN8ZIKWs4ppg7QW+HiII6z/lcz/ZZSVoppzE76rDIEhWnZhqVUib4soF/fcmdBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T04:21:10.848829Z"},"content_sha256":"4c3f80cf92c6935d4e1d97b5980bdd2699535963adb1ee81e17216a309df8e51","schema_version":"1.0","event_id":"sha256:4c3f80cf92c6935d4e1d97b5980bdd2699535963adb1ee81e17216a309df8e51"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CKP7OMQF4OCK2WBF2YCV2L724E/bundle.json","state_url":"https://pith.science/pith/CKP7OMQF4OCK2WBF2YCV2L724E/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CKP7OMQF4OCK2WBF2YCV2L724E/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":"2026-06-07T04:21:10Z","links":{"resolver":"https://pith.science/pith/CKP7OMQF4OCK2WBF2YCV2L724E","bundle":"https://pith.science/pith/CKP7OMQF4OCK2WBF2YCV2L724E/bundle.json","state":"https://pith.science/pith/CKP7OMQF4OCK2WBF2YCV2L724E/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CKP7OMQF4OCK2WBF2YCV2L724E/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:CKP7OMQF4OCK2WBF2YCV2L724E","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":"a49a182e8059307df999e8e1508c3443b22b9b93795ebe72c2f33d93d64e8a9d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T07:42:48Z","title_canon_sha256":"8cc62052a1dc1eaf0a328c2b217056559def5b1903d3b25a3a512b7a1cd874ca"},"schema_version":"1.0","source":{"id":"2602.12686","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.12686","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"arxiv_version","alias_value":"2602.12686v2","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.12686","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_12","alias_value":"CKP7OMQF4OCK","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_16","alias_value":"CKP7OMQF4OCK2WBF","created_at":"2026-06-01T01:02:34Z"},{"alias_kind":"pith_short_8","alias_value":"CKP7OMQF","created_at":"2026-06-01T01:02:34Z"}],"graph_snapshots":[{"event_id":"sha256:4c3f80cf92c6935d4e1d97b5980bdd2699535963adb1ee81e17216a309df8e51","target":"graph","created_at":"2026-06-01T01:02:34Z","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/2602.12686/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world. A central challenge lies in interpreting signs: real-world signs are diverse and complex, and their abstract semantic contents need to be grounded in the local 3D scene. We formalize this as sign grounding, the problem of mapping semantic instructions on signs to corresponding scene elements and navigational actions. Recent Vision-Language Models (VLMs) offer the semantic common-sense and reasoning capabilities req","authors_text":"Benjamin Koh, David Hsu, Joel Loo, Nicky Zimmerman, Zishuo Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T07:42:48Z","title":"SignScene: Visual Sign Grounding for Mapless Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.12686","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":"sha256:5fe7def25634ee647c1ed15adab3f78cdd70235e30b0aeeda621e7d857dccb9f","target":"record","created_at":"2026-06-01T01:02:34Z","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":"a49a182e8059307df999e8e1508c3443b22b9b93795ebe72c2f33d93d64e8a9d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T07:42:48Z","title_canon_sha256":"8cc62052a1dc1eaf0a328c2b217056559def5b1903d3b25a3a512b7a1cd874ca"},"schema_version":"1.0","source":{"id":"2602.12686","kind":"arxiv","version":2}},"canonical_sha256":"129ff73205e384ad5825d6055d2ffae12662e59bc39f92542f91d6d5c6c9aaa6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"129ff73205e384ad5825d6055d2ffae12662e59bc39f92542f91d6d5c6c9aaa6","first_computed_at":"2026-06-01T01:02:34.266962Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:02:34.266962Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3qy/weUf5tv2F0/7CWD6l5XAEqHA/7R0DfxNbrwcdikOX6WbxqMqessYQUdHuKc7IsL7VvOvma2Q66xllxHxBQ==","signature_status":"signed_v1","signed_at":"2026-06-01T01:02:34.267859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.12686","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5fe7def25634ee647c1ed15adab3f78cdd70235e30b0aeeda621e7d857dccb9f","sha256:4c3f80cf92c6935d4e1d97b5980bdd2699535963adb1ee81e17216a309df8e51"],"state_sha256":"155ee27ac6aa6ed69c1f376c5b521778616f03bdbf219a57fc95f03b1ac8ac89"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8mO3m99TLBojkvJHk8WKmO5XGAg8n/1JW3uuw2rDoVMoHH4n+gkZ6m8hDjUodD0JZSVBoxbqpfFpz51yt3RnBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T04:21:10.852974Z","bundle_sha256":"ebb7c2c4d15cd80c13a5eb50b59fecbcb8f83c5dd640c0623f443ec733a9afe0"}}