{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GUCVB4PBC5E6DX6FKCTDFTUPIA","short_pith_number":"pith:GUCVB4PB","canonical_record":{"source":{"id":"2607.16619","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-18T03:40:59Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"245cd561d8b68a3d22d3da17d35ab8d50284970b5d39f16e63eea0e42fbdff33","abstract_canon_sha256":"94e348e699616e97ab4658946e8c5c8f9ab38031ac2c20c2c58a2b99fba325d4"},"schema_version":"1.0"},"canonical_sha256":"350550f1e11749e1dfc550a632ce8f402446d0ce6297e53fb9f7d89b5c47e6cb","source":{"kind":"arxiv","id":"2607.16619","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.16619","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"arxiv_version","alias_value":"2607.16619v1","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.16619","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_12","alias_value":"GUCVB4PBC5E6","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_16","alias_value":"GUCVB4PBC5E6DX6F","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_8","alias_value":"GUCVB4PB","created_at":"2026-07-21T00:20:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GUCVB4PBC5E6DX6FKCTDFTUPIA","target":"record","payload":{"canonical_record":{"source":{"id":"2607.16619","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-18T03:40:59Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"245cd561d8b68a3d22d3da17d35ab8d50284970b5d39f16e63eea0e42fbdff33","abstract_canon_sha256":"94e348e699616e97ab4658946e8c5c8f9ab38031ac2c20c2c58a2b99fba325d4"},"schema_version":"1.0"},"canonical_sha256":"350550f1e11749e1dfc550a632ce8f402446d0ce6297e53fb9f7d89b5c47e6cb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-21T00:20:28.690106Z","signature_b64":"dVSvFuZH6YA6EdOCYYoPs5Qfetrg3foyQtnxzVQOyHIpdmqsHFG1ISogngC4yvyxwsQCNyePOaOTy8EK9TfPDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"350550f1e11749e1dfc550a632ce8f402446d0ce6297e53fb9f7d89b5c47e6cb","last_reissued_at":"2026-07-21T00:20:28.689211Z","signature_status":"signed_v1","first_computed_at":"2026-07-21T00:20:28.689211Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.16619","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":"2026-07-21T00:20:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"txt32NyUaVfWS1OleGkFgc4DtXc90Hf49lOVKujFNGLH4ru9WPGrJL7x3kvlcbp4fdsCjdo08NY93IiOWKMHDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:14:40.650072Z"},"content_sha256":"f4b97d507c5e7f747db3b0c44296730cf7d879b86ada4ff161fa707d2ae50872","schema_version":"1.0","event_id":"sha256:f4b97d507c5e7f747db3b0c44296730cf7d879b86ada4ff161fa707d2ae50872"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GUCVB4PBC5E6DX6FKCTDFTUPIA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Lan Hu, Minghui Liwang, Seyyedali Hosseinalipour, Wenbo Zhu, Xianbin Wang, Xinlei Yi, Yiguang Hong, Zhenzhen Jiao","submitted_at":"2026-07-18T03:40:59Z","abstract_excerpt":"Safe and socially compliant navigation in open human-robot environments requires robots to reason about heterogeneous participants with different dynamics, autonomy levels, and social roles. Existing trajectory prediction and planning methods often rely on homogeneous interaction assumptions or enforce only geometric collision constraints, making it difficult to jointly model asymmetric interactions, coupled prediction-planning, and soft social norms. This paper proposes SAGE, a socially-aware generative engine for heterogeneous multi-agent navigation. SAGE represents robots and surrounding en"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.16619","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/2607.16619/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":"2026-07-21T00:20:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ob3UcHYewgGT0JgL/TyJgj+AvTaBR5oroTm5p+8m9qt6YVgoYA1OwZtY0yEfC5OmUpDs1VGSu+lsIjAjiYD2Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:14:40.650598Z"},"content_sha256":"efc231f7c298f67ba86a24f62bc0c48627b2a92dd3fd3f56f8cd4a6ac8f163b3","schema_version":"1.0","event_id":"sha256:efc231f7c298f67ba86a24f62bc0c48627b2a92dd3fd3f56f8cd4a6ac8f163b3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/bundle.json","state_url":"https://pith.science/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/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":"2026-08-08T02:14:40Z","links":{"resolver":"https://pith.science/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA","bundle":"https://pith.science/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/bundle.json","state":"https://pith.science/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GUCVB4PBC5E6DX6FKCTDFTUPIA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GUCVB4PBC5E6DX6FKCTDFTUPIA","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":"94e348e699616e97ab4658946e8c5c8f9ab38031ac2c20c2c58a2b99fba325d4","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-18T03:40:59Z","title_canon_sha256":"245cd561d8b68a3d22d3da17d35ab8d50284970b5d39f16e63eea0e42fbdff33"},"schema_version":"1.0","source":{"id":"2607.16619","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.16619","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"arxiv_version","alias_value":"2607.16619v1","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.16619","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_12","alias_value":"GUCVB4PBC5E6","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_16","alias_value":"GUCVB4PBC5E6DX6F","created_at":"2026-07-21T00:20:28Z"},{"alias_kind":"pith_short_8","alias_value":"GUCVB4PB","created_at":"2026-07-21T00:20:28Z"}],"graph_snapshots":[{"event_id":"sha256:efc231f7c298f67ba86a24f62bc0c48627b2a92dd3fd3f56f8cd4a6ac8f163b3","target":"graph","created_at":"2026-07-21T00:20:28Z","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/2607.16619/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safe and socially compliant navigation in open human-robot environments requires robots to reason about heterogeneous participants with different dynamics, autonomy levels, and social roles. Existing trajectory prediction and planning methods often rely on homogeneous interaction assumptions or enforce only geometric collision constraints, making it difficult to jointly model asymmetric interactions, coupled prediction-planning, and soft social norms. This paper proposes SAGE, a socially-aware generative engine for heterogeneous multi-agent navigation. SAGE represents robots and surrounding en","authors_text":"Lan Hu, Minghui Liwang, Seyyedali Hosseinalipour, Wenbo Zhu, Xianbin Wang, Xinlei Yi, Yiguang Hong, Zhenzhen Jiao","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-18T03:40:59Z","title":"SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.16619","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:f4b97d507c5e7f747db3b0c44296730cf7d879b86ada4ff161fa707d2ae50872","target":"record","created_at":"2026-07-21T00:20:28Z","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":"94e348e699616e97ab4658946e8c5c8f9ab38031ac2c20c2c58a2b99fba325d4","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-18T03:40:59Z","title_canon_sha256":"245cd561d8b68a3d22d3da17d35ab8d50284970b5d39f16e63eea0e42fbdff33"},"schema_version":"1.0","source":{"id":"2607.16619","kind":"arxiv","version":1}},"canonical_sha256":"350550f1e11749e1dfc550a632ce8f402446d0ce6297e53fb9f7d89b5c47e6cb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"350550f1e11749e1dfc550a632ce8f402446d0ce6297e53fb9f7d89b5c47e6cb","first_computed_at":"2026-07-21T00:20:28.689211Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T00:20:28.689211Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dVSvFuZH6YA6EdOCYYoPs5Qfetrg3foyQtnxzVQOyHIpdmqsHFG1ISogngC4yvyxwsQCNyePOaOTy8EK9TfPDw==","signature_status":"signed_v1","signed_at":"2026-07-21T00:20:28.690106Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.16619","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f4b97d507c5e7f747db3b0c44296730cf7d879b86ada4ff161fa707d2ae50872","sha256:efc231f7c298f67ba86a24f62bc0c48627b2a92dd3fd3f56f8cd4a6ac8f163b3"],"state_sha256":"64b11100a6280b3ff889707be0e5940212c29477e33b5d5c865b9785ba271fdd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hXVyUXUIZrSguXadlCP0u1p+xNoQ8rd8Zv1AGE50dx2CUXHqNvQ+Bp/H6IF6Cc4O3RUyjttyg6cRaGu/PP8mCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T02:14:40.657991Z","bundle_sha256":"33cde274045c39a38df89288115ad0a7bf3bbee11caa8cce09152ccd24adf3f9"}}