{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:DTJVL62GJ2BPNLXXSEBMPDT4CA","short_pith_number":"pith:DTJVL62G","canonical_record":{"source":{"id":"1812.00940","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-12-03T18:06:53Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"987c072d2bde97644159aa2e4a94a60bda50fa409709cff17f64117edd0a1f29","abstract_canon_sha256":"ee1b961fb8f29b2aabc308280bb8d27cef72a7d9630025dcb82ea22f28ba6649"},"schema_version":"1.0"},"canonical_sha256":"1cd355fb464e82f6aef79102c78e7c100a69c01021084cd702d66dbdf51e26d6","source":{"kind":"arxiv","id":"1812.00940","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.00940","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"arxiv_version","alias_value":"1812.00940v1","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.00940","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"pith_short_12","alias_value":"DTJVL62GJ2BP","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DTJVL62GJ2BPNLXX","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DTJVL62G","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:DTJVL62GJ2BPNLXXSEBMPDT4CA","target":"record","payload":{"canonical_record":{"source":{"id":"1812.00940","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-12-03T18:06:53Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"987c072d2bde97644159aa2e4a94a60bda50fa409709cff17f64117edd0a1f29","abstract_canon_sha256":"ee1b961fb8f29b2aabc308280bb8d27cef72a7d9630025dcb82ea22f28ba6649"},"schema_version":"1.0"},"canonical_sha256":"1cd355fb464e82f6aef79102c78e7c100a69c01021084cd702d66dbdf51e26d6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:59:18.549609Z","signature_b64":"T9Vsvu9n0iNBzS9kpRMrmWiwqfQfLRbQ9GIT7LY+VW/dI0Fz+FgGOVlzDODd1//yUCf6oNC8saoxf1c/o+GhBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1cd355fb464e82f6aef79102c78e7c100a69c01021084cd702d66dbdf51e26d6","last_reissued_at":"2026-05-17T23:59:18.549156Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:59:18.549156Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1812.00940","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":"2026-05-17T23:59:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VuvHGDNAfEaKaFW5akooRFJ9G2SohTmh8ERYavk7g03p/kD/ZbhLhzjyC62jSHFtvzrgPSB+ZyYvIr1pzE29DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T10:40:33.592517Z"},"content_sha256":"9b295a070517e6a9826178c97721b0e71a31dbb290a9064265c5ecbb1396fab8","schema_version":"1.0","event_id":"sha256:9b295a070517e6a9826178c97721b0e71a31dbb290a9064265c5ecbb1396fab8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:DTJVL62GJ2BPNLXXSEBMPDT4CA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual Memory for Robust Path Following","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Ashish Kumar, David Fouhey, Jitendra Malik, Saurabh Gupta, Sergey Levine","submitted_at":"2018-12-03T18:06:53Z","abstract_excerpt":"Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path abstraction. Equipped with this abstraction, a second network observes the world and decides how to act to retrace the path under noisy actuation and a changing environment. The two networks are optimized end-to-end at training time. We evaluate the method in two realistic simulators, performing path following and homing under actuation noise and environmental change"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.00940","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":""},"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":"2026-05-17T23:59:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B8Zkb/Tds1dYwzTityxffX2tGNW9ne1Vc6Zw6iCFsAl+7GVrl9SdLCAzGhkHAyNSyZyB761VOtF/vr8ie5DSCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T10:40:33.592883Z"},"content_sha256":"1d16f0c4978a76afa0fb03605833a9c2054351fc26a49aa5d050fb07b67d3eb6","schema_version":"1.0","event_id":"sha256:1d16f0c4978a76afa0fb03605833a9c2054351fc26a49aa5d050fb07b67d3eb6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/bundle.json","state_url":"https://pith.science/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/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":"2026-06-02T10:40:33Z","links":{"resolver":"https://pith.science/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA","bundle":"https://pith.science/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/bundle.json","state":"https://pith.science/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DTJVL62GJ2BPNLXXSEBMPDT4CA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:DTJVL62GJ2BPNLXXSEBMPDT4CA","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":"ee1b961fb8f29b2aabc308280bb8d27cef72a7d9630025dcb82ea22f28ba6649","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-12-03T18:06:53Z","title_canon_sha256":"987c072d2bde97644159aa2e4a94a60bda50fa409709cff17f64117edd0a1f29"},"schema_version":"1.0","source":{"id":"1812.00940","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.00940","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"arxiv_version","alias_value":"1812.00940v1","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.00940","created_at":"2026-05-17T23:59:18Z"},{"alias_kind":"pith_short_12","alias_value":"DTJVL62GJ2BP","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DTJVL62GJ2BPNLXX","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DTJVL62G","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:1d16f0c4978a76afa0fb03605833a9c2054351fc26a49aa5d050fb07b67d3eb6","target":"graph","created_at":"2026-05-17T23:59:18Z","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":"Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path abstraction. Equipped with this abstraction, a second network observes the world and decides how to act to retrace the path under noisy actuation and a changing environment. The two networks are optimized end-to-end at training time. We evaluate the method in two realistic simulators, performing path following and homing under actuation noise and environmental change","authors_text":"Ashish Kumar, David Fouhey, Jitendra Malik, Saurabh Gupta, Sergey Levine","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-12-03T18:06:53Z","title":"Visual Memory for Robust Path Following"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.00940","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":"sha256:9b295a070517e6a9826178c97721b0e71a31dbb290a9064265c5ecbb1396fab8","target":"record","created_at":"2026-05-17T23:59:18Z","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":"ee1b961fb8f29b2aabc308280bb8d27cef72a7d9630025dcb82ea22f28ba6649","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2018-12-03T18:06:53Z","title_canon_sha256":"987c072d2bde97644159aa2e4a94a60bda50fa409709cff17f64117edd0a1f29"},"schema_version":"1.0","source":{"id":"1812.00940","kind":"arxiv","version":1}},"canonical_sha256":"1cd355fb464e82f6aef79102c78e7c100a69c01021084cd702d66dbdf51e26d6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1cd355fb464e82f6aef79102c78e7c100a69c01021084cd702d66dbdf51e26d6","first_computed_at":"2026-05-17T23:59:18.549156Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:59:18.549156Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"T9Vsvu9n0iNBzS9kpRMrmWiwqfQfLRbQ9GIT7LY+VW/dI0Fz+FgGOVlzDODd1//yUCf6oNC8saoxf1c/o+GhBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:59:18.549609Z","signed_message":"canonical_sha256_bytes"},"source_id":"1812.00940","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b295a070517e6a9826178c97721b0e71a31dbb290a9064265c5ecbb1396fab8","sha256:1d16f0c4978a76afa0fb03605833a9c2054351fc26a49aa5d050fb07b67d3eb6"],"state_sha256":"b7b55278a834e9ee1ac87bc72c7496b16cbf4c9b495dc00050576bbdb63dabb7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wFvWz6uIV+i9dUYxMYbiklt0xYEBQ9qB+ap8ZgakQ2YqlEusBVaw/jC2HHDIR+up2O4sXyJoCsKy0S8RI1OkDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T10:40:33.594806Z","bundle_sha256":"fcae3ce6dfa6a3a49d28079b59c4f10d2243ba8d4c6f56694d9ca3dee1993c3b"}}