{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:EPGZICUWICKQMS24C62TGMJITM","short_pith_number":"pith:EPGZICUW","canonical_record":{"source":{"id":"2605.24111","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:18:07Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a181189397e45920e29a9cd1d8792d3b4f433cbf084662178a478bc977efb5fe","abstract_canon_sha256":"6cf81b2e3a691d6e5c36cc3d62dd056d8af73b9bfe86bf98db34c9108236ccb2"},"schema_version":"1.0"},"canonical_sha256":"23cd940a964095064b5c17b53331289b235cbfe73ad7e8aed72f76656ee4b7bc","source":{"kind":"arxiv","id":"2605.24111","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24111","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24111v1","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24111","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_12","alias_value":"EPGZICUWICKQ","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_16","alias_value":"EPGZICUWICKQMS24","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_8","alias_value":"EPGZICUW","created_at":"2026-05-26T01:02:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:EPGZICUWICKQMS24C62TGMJITM","target":"record","payload":{"canonical_record":{"source":{"id":"2605.24111","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:18:07Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a181189397e45920e29a9cd1d8792d3b4f433cbf084662178a478bc977efb5fe","abstract_canon_sha256":"6cf81b2e3a691d6e5c36cc3d62dd056d8af73b9bfe86bf98db34c9108236ccb2"},"schema_version":"1.0"},"canonical_sha256":"23cd940a964095064b5c17b53331289b235cbfe73ad7e8aed72f76656ee4b7bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-26T01:02:46.812553Z","signature_b64":"TsicUzlU+4uv6MHGvNv/do80oFihBfqW2hnANSPoxssqabyTGcxrkP/G74QDH94Np/7gUQmSXeLZkev2I6tRAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"23cd940a964095064b5c17b53331289b235cbfe73ad7e8aed72f76656ee4b7bc","last_reissued_at":"2026-05-26T01:02:46.811666Z","signature_status":"signed_v1","first_computed_at":"2026-05-26T01:02:46.811666Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.24111","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":"2026-05-26T01:02:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hBwFzmEer3/NX+HTZ9CsxpzE/Fzr1wulhqT04Y0Kqx/TeYzJs36Kbb3xdjKUiTTFO2oob70bNVKg0SWmmra4Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:21:30.392060Z"},"content_sha256":"0bb86b8d46c1baf146f09b423c74356b5e544f94aa819fc88fc6b9abcf39b145","schema_version":"1.0","event_id":"sha256:0bb86b8d46c1baf146f09b423c74356b5e544f94aa819fc88fc6b9abcf39b145"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:EPGZICUWICKQMS24C62TGMJITM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MASt3R-Nav: WayPixel Navigation in Relative 3D Maps","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Krish Pandya, Madhava Krishna, Muhammad Haris Khan, Rohit Jayanti, Sarthak Chittawar, Siddharth Tourani, Sourav Garg, Vansh Garg","submitted_at":"2026-05-22T18:18:07Z","abstract_excerpt":"Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with geometric understanding. But, this comes at the cost of navigation capability, often limiting it to merely teach-and-repeat. In this work, we propose a novel map representation in the form of pixel-relative connectivity, which is geometrically accurate but does not require global geometric consistency. Inspired by recent progress in 3D grounded image matching, we co"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24111","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/2605.24111/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":"2026-05-26T01:02:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F9Tt82nDuPLq9fbsa+4ALDbtIi/7V8GqdwY7Pb0OdjbHJuG/MVNX11lC1urNr32hHSYpMCoesaaBHup+kzE8DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:21:30.392458Z"},"content_sha256":"c4c927a81f7f59f6fa0721d9dfbf2dda4b24e937eabfbe4df459246234848f56","schema_version":"1.0","event_id":"sha256:c4c927a81f7f59f6fa0721d9dfbf2dda4b24e937eabfbe4df459246234848f56"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EPGZICUWICKQMS24C62TGMJITM/bundle.json","state_url":"https://pith.science/pith/EPGZICUWICKQMS24C62TGMJITM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EPGZICUWICKQMS24C62TGMJITM/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":"2026-06-05T19:21:30Z","links":{"resolver":"https://pith.science/pith/EPGZICUWICKQMS24C62TGMJITM","bundle":"https://pith.science/pith/EPGZICUWICKQMS24C62TGMJITM/bundle.json","state":"https://pith.science/pith/EPGZICUWICKQMS24C62TGMJITM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EPGZICUWICKQMS24C62TGMJITM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EPGZICUWICKQMS24C62TGMJITM","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":"6cf81b2e3a691d6e5c36cc3d62dd056d8af73b9bfe86bf98db34c9108236ccb2","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:18:07Z","title_canon_sha256":"a181189397e45920e29a9cd1d8792d3b4f433cbf084662178a478bc977efb5fe"},"schema_version":"1.0","source":{"id":"2605.24111","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24111","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24111v1","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24111","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_12","alias_value":"EPGZICUWICKQ","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_16","alias_value":"EPGZICUWICKQMS24","created_at":"2026-05-26T01:02:46Z"},{"alias_kind":"pith_short_8","alias_value":"EPGZICUW","created_at":"2026-05-26T01:02:46Z"}],"graph_snapshots":[{"event_id":"sha256:c4c927a81f7f59f6fa0721d9dfbf2dda4b24e937eabfbe4df459246234848f56","target":"graph","created_at":"2026-05-26T01:02:46Z","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/2605.24111/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with geometric understanding. But, this comes at the cost of navigation capability, often limiting it to merely teach-and-repeat. In this work, we propose a novel map representation in the form of pixel-relative connectivity, which is geometrically accurate but does not require global geometric consistency. Inspired by recent progress in 3D grounded image matching, we co","authors_text":"Krish Pandya, Madhava Krishna, Muhammad Haris Khan, Rohit Jayanti, Sarthak Chittawar, Siddharth Tourani, Sourav Garg, Vansh Garg","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:18:07Z","title":"MASt3R-Nav: WayPixel Navigation in Relative 3D Maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24111","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":"sha256:0bb86b8d46c1baf146f09b423c74356b5e544f94aa819fc88fc6b9abcf39b145","target":"record","created_at":"2026-05-26T01:02:46Z","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":"6cf81b2e3a691d6e5c36cc3d62dd056d8af73b9bfe86bf98db34c9108236ccb2","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:18:07Z","title_canon_sha256":"a181189397e45920e29a9cd1d8792d3b4f433cbf084662178a478bc977efb5fe"},"schema_version":"1.0","source":{"id":"2605.24111","kind":"arxiv","version":1}},"canonical_sha256":"23cd940a964095064b5c17b53331289b235cbfe73ad7e8aed72f76656ee4b7bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"23cd940a964095064b5c17b53331289b235cbfe73ad7e8aed72f76656ee4b7bc","first_computed_at":"2026-05-26T01:02:46.811666Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T01:02:46.811666Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TsicUzlU+4uv6MHGvNv/do80oFihBfqW2hnANSPoxssqabyTGcxrkP/G74QDH94Np/7gUQmSXeLZkev2I6tRAg==","signature_status":"signed_v1","signed_at":"2026-05-26T01:02:46.812553Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.24111","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0bb86b8d46c1baf146f09b423c74356b5e544f94aa819fc88fc6b9abcf39b145","sha256:c4c927a81f7f59f6fa0721d9dfbf2dda4b24e937eabfbe4df459246234848f56"],"state_sha256":"71ee409e570351b83dbc4d869e27ca2e8f0070a0b2c12820c19e010c552ffe27"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i+IA1X6rfi6KQw+C8vZ151s2yBhOvoekYaCgA6IcvcL/qhSQ9NSxoAmfb2gwUB4A3KJpdjlX4LNbPMRugFeUAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T19:21:30.395001Z","bundle_sha256":"ced4e2b70ae47c3ab9d798b4bdf83e6e1fbb92a5512662373b328c80940b6f3f"}}