{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:DLPNRPYEFDNZXVDD3QKX6N5STA","short_pith_number":"pith:DLPNRPYE","canonical_record":{"source":{"id":"1710.05627","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-10-16T11:22:32Z","cross_cats_sorted":[],"title_canon_sha256":"d1ff3fd15232971aa26d482334e43e75ba234c17350bddf8923b2b16a2c3696f","abstract_canon_sha256":"98c85169623c1f05fdd0cc2f509e7666e9619d71a432506a484cad9049151305"},"schema_version":"1.0"},"canonical_sha256":"1aded8bf0428db9bd463dc157f37b2980fd80bd14fce91f8867d5d373cfc0a9b","source":{"kind":"arxiv","id":"1710.05627","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.05627","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"arxiv_version","alias_value":"1710.05627v2","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.05627","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"pith_short_12","alias_value":"DLPNRPYEFDNZ","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_16","alias_value":"DLPNRPYEFDNZXVDD","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_8","alias_value":"DLPNRPYE","created_at":"2026-05-18T12:31:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:DLPNRPYEFDNZXVDD3QKX6N5STA","target":"record","payload":{"canonical_record":{"source":{"id":"1710.05627","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-10-16T11:22:32Z","cross_cats_sorted":[],"title_canon_sha256":"d1ff3fd15232971aa26d482334e43e75ba234c17350bddf8923b2b16a2c3696f","abstract_canon_sha256":"98c85169623c1f05fdd0cc2f509e7666e9619d71a432506a484cad9049151305"},"schema_version":"1.0"},"canonical_sha256":"1aded8bf0428db9bd463dc157f37b2980fd80bd14fce91f8867d5d373cfc0a9b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:32:38.385792Z","signature_b64":"RJqbgcLMNKzI3ym5AdXqUAaRrui0IGKoHvcCQaHlrP2SmdXd+mKuMY65E3EPIqO+Rn2QzHvy7zcxC9FJElytAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1aded8bf0428db9bd463dc157f37b2980fd80bd14fce91f8867d5d373cfc0a9b","last_reissued_at":"2026-05-18T00:32:38.385146Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:32:38.385146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1710.05627","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":"2026-05-18T00:32:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H8JHwoit7V6TM+LluP160gOUseRITmKSSW1jJ4pctts5Dic4+XzTBl1LuM1vjOIqsT+GxQmDRQqujjTYrEDnCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T21:00:14.666052Z"},"content_sha256":"f136bc35d47afa0e4b01095b475d6515cfc0f2de1395b158b366507fd19d5ce0","schema_version":"1.0","event_id":"sha256:f136bc35d47afa0e4b01095b475d6515cfc0f2de1395b158b366507fd19d5ce0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:DLPNRPYEFDNZXVDD3QKX6N5STA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Intention-Net: Integrating Planning and Deep Learning for Goal-Directed Autonomous Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.AI","authors_text":"David Hsu, Karthikk Subramanian, ShengMei Shen, Wee Sun Lee, Wei Gao","submitted_at":"2017-10-16T11:22:32Z","abstract_excerpt":"How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep learning and model-based path planning. At the low level, a neural-network motion controller, called the intention-net, is trained end-to-end to provide robust local navigation. The intention-net maps images from a single monocular camera and \"intentions\" directly to robot controls. At the high level, a path planner uses a crude map, e.g., a 2-D floor plan, to com"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.05627","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":""},"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":"2026-05-18T00:32:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pVY/+/a4xkNoLT4rsX61YKB1kbbMDaElUaE22k0dnsfRF0o9681TC4DJxi73E5wVXM9fAUuNNtBIv/kUGJF2BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T21:00:14.666691Z"},"content_sha256":"71ef4180d18d10fb2e58b37329452c1cd87178a9e4c7bd3adeee1d8ad23965c2","schema_version":"1.0","event_id":"sha256:71ef4180d18d10fb2e58b37329452c1cd87178a9e4c7bd3adeee1d8ad23965c2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/bundle.json","state_url":"https://pith.science/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/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":"2026-05-25T21:00:14Z","links":{"resolver":"https://pith.science/pith/DLPNRPYEFDNZXVDD3QKX6N5STA","bundle":"https://pith.science/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/bundle.json","state":"https://pith.science/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DLPNRPYEFDNZXVDD3QKX6N5STA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:DLPNRPYEFDNZXVDD3QKX6N5STA","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":"98c85169623c1f05fdd0cc2f509e7666e9619d71a432506a484cad9049151305","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-10-16T11:22:32Z","title_canon_sha256":"d1ff3fd15232971aa26d482334e43e75ba234c17350bddf8923b2b16a2c3696f"},"schema_version":"1.0","source":{"id":"1710.05627","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.05627","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"arxiv_version","alias_value":"1710.05627v2","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.05627","created_at":"2026-05-18T00:32:38Z"},{"alias_kind":"pith_short_12","alias_value":"DLPNRPYEFDNZ","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_16","alias_value":"DLPNRPYEFDNZXVDD","created_at":"2026-05-18T12:31:10Z"},{"alias_kind":"pith_short_8","alias_value":"DLPNRPYE","created_at":"2026-05-18T12:31:10Z"}],"graph_snapshots":[{"event_id":"sha256:71ef4180d18d10fb2e58b37329452c1cd87178a9e4c7bd3adeee1d8ad23965c2","target":"graph","created_at":"2026-05-18T00:32:38Z","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"},"paper":{"abstract_excerpt":"How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep learning and model-based path planning. At the low level, a neural-network motion controller, called the intention-net, is trained end-to-end to provide robust local navigation. The intention-net maps images from a single monocular camera and \"intentions\" directly to robot controls. At the high level, a path planner uses a crude map, e.g., a 2-D floor plan, to com","authors_text":"David Hsu, Karthikk Subramanian, ShengMei Shen, Wee Sun Lee, Wei Gao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-10-16T11:22:32Z","title":"Intention-Net: Integrating Planning and Deep Learning for Goal-Directed Autonomous Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.05627","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:f136bc35d47afa0e4b01095b475d6515cfc0f2de1395b158b366507fd19d5ce0","target":"record","created_at":"2026-05-18T00:32:38Z","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":"98c85169623c1f05fdd0cc2f509e7666e9619d71a432506a484cad9049151305","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-10-16T11:22:32Z","title_canon_sha256":"d1ff3fd15232971aa26d482334e43e75ba234c17350bddf8923b2b16a2c3696f"},"schema_version":"1.0","source":{"id":"1710.05627","kind":"arxiv","version":2}},"canonical_sha256":"1aded8bf0428db9bd463dc157f37b2980fd80bd14fce91f8867d5d373cfc0a9b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1aded8bf0428db9bd463dc157f37b2980fd80bd14fce91f8867d5d373cfc0a9b","first_computed_at":"2026-05-18T00:32:38.385146Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:32:38.385146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RJqbgcLMNKzI3ym5AdXqUAaRrui0IGKoHvcCQaHlrP2SmdXd+mKuMY65E3EPIqO+Rn2QzHvy7zcxC9FJElytAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:32:38.385792Z","signed_message":"canonical_sha256_bytes"},"source_id":"1710.05627","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f136bc35d47afa0e4b01095b475d6515cfc0f2de1395b158b366507fd19d5ce0","sha256:71ef4180d18d10fb2e58b37329452c1cd87178a9e4c7bd3adeee1d8ad23965c2"],"state_sha256":"55e2992bf49cc1e3cd17d56dc0b3dfc10960c89b1ddb92f4b4439e94e8cb749d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nu0B2dHeANTYYJd+aSMvUp3LTIB82oajQ/fMFsqlLoCVknIOeVMnC0IeWGqCNSnmAiuaaPmJ544lP2/INRT0CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T21:00:14.670128Z","bundle_sha256":"ede6bfae82fd1dfa61e264dc8f7c5efe0152928bafeee08f287e0ea69d2a5916"}}