{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:IAHJSY3KJZU7FX6NLHPQYUPBAI","short_pith_number":"pith:IAHJSY3K","canonical_record":{"source":{"id":"2409.16484","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T22:15:24Z","cross_cats_sorted":[],"title_canon_sha256":"a115179843506d1b6187932b052a56898b0439b36012a43579a451e7867bb0ed","abstract_canon_sha256":"2b93c08bada9075e99bbcb262c22a8d9877ac185100d969be7e12ff6ed2c6984"},"schema_version":"1.0"},"canonical_sha256":"400e99636a4e69f2dfcd59df0c51e1021506da06a1292653064ee425e1d7a0a6","source":{"kind":"arxiv","id":"2409.16484","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.16484","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2409.16484v2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.16484","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"IAHJSY3KJZU7","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"IAHJSY3KJZU7FX6N","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"IAHJSY3K","created_at":"2026-07-05T09:14:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:IAHJSY3KJZU7FX6NLHPQYUPBAI","target":"record","payload":{"canonical_record":{"source":{"id":"2409.16484","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T22:15:24Z","cross_cats_sorted":[],"title_canon_sha256":"a115179843506d1b6187932b052a56898b0439b36012a43579a451e7867bb0ed","abstract_canon_sha256":"2b93c08bada9075e99bbcb262c22a8d9877ac185100d969be7e12ff6ed2c6984"},"schema_version":"1.0"},"canonical_sha256":"400e99636a4e69f2dfcd59df0c51e1021506da06a1292653064ee425e1d7a0a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:14:55.654075Z","signature_b64":"tATPDuWnICL3mn4SaHipcJAVUNaC8q4l6I7XY1ax9xU/k7zpSvwP0kI4G83Sb3KLYw7BfqfPMsYW1sULv6QGBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"400e99636a4e69f2dfcd59df0c51e1021506da06a1292653064ee425e1d7a0a6","last_reissued_at":"2026-07-05T09:14:55.653595Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:14:55.653595Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.16484","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":"2026-07-05T09:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bTBS5xR0y9ork3MGJDVnakCtnLwcEznoIoRIIDMNmPevwXwnmVwcGRlbsUOc34dyl6gBr43RRCQ0RoYNf4ELBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T19:51:51.127741Z"},"content_sha256":"a37e56690b3de785f315be1c8ae8ae22f1a1b7bcf49caeb2d39d0789ebee8b2c","schema_version":"1.0","event_id":"sha256:a37e56690b3de785f315be1c8ae8ae22f1a1b7bcf49caeb2d39d0789ebee8b2c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:IAHJSY3KJZU7FX6NLHPQYUPBAI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Gershom Seneviratne, Jing Liang, Kasun Weerakoon, Mohamed Elnoor, Mohamed Khalid M Jaffar, Senthil Hariharan Arul, Vignesh Rajagopal","submitted_at":"2024-09-24T22:15:24Z","abstract_excerpt":"We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and categorizes the instructions into navigation and behavioral guidelines. Navigation guidelines consist of directional commands (e.g., \"move forward until\") and associated landmarks (e.g., \"the building with blue windows\"), while behavioral guidelines encompass regulatory actions (e.g., \"stay on\") and their corresponding objects (e.g., \"pavements\"). We use VLMs fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.16484","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/2409.16484/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":"2026-07-05T09:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3AG/Rhc1PhLSe3lPgGIjON1yrwJam2PtftHTcQyenEQnEKh5OfVONiGcCwR1FjWNEJeFfY8GWOIxp2555+8WAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T19:51:51.128310Z"},"content_sha256":"579728e60ba08ce0b02abc609946c7cf16c5196f774254cf3c4aa0d1a69681c9","schema_version":"1.0","event_id":"sha256:579728e60ba08ce0b02abc609946c7cf16c5196f774254cf3c4aa0d1a69681c9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/bundle.json","state_url":"https://pith.science/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/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":"2026-08-07T19:51:51Z","links":{"resolver":"https://pith.science/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI","bundle":"https://pith.science/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/bundle.json","state":"https://pith.science/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IAHJSY3KJZU7FX6NLHPQYUPBAI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IAHJSY3KJZU7FX6NLHPQYUPBAI","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":"2b93c08bada9075e99bbcb262c22a8d9877ac185100d969be7e12ff6ed2c6984","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T22:15:24Z","title_canon_sha256":"a115179843506d1b6187932b052a56898b0439b36012a43579a451e7867bb0ed"},"schema_version":"1.0","source":{"id":"2409.16484","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.16484","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2409.16484v2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.16484","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"IAHJSY3KJZU7","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"IAHJSY3KJZU7FX6N","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"IAHJSY3K","created_at":"2026-07-05T09:14:55Z"}],"graph_snapshots":[{"event_id":"sha256:579728e60ba08ce0b02abc609946c7cf16c5196f774254cf3c4aa0d1a69681c9","target":"graph","created_at":"2026-07-05T09:14:55Z","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/2409.16484/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and categorizes the instructions into navigation and behavioral guidelines. Navigation guidelines consist of directional commands (e.g., \"move forward until\") and associated landmarks (e.g., \"the building with blue windows\"), while behavioral guidelines encompass regulatory actions (e.g., \"stay on\") and their corresponding objects (e.g., \"pavements\"). We use VLMs fo","authors_text":"Dinesh Manocha, Gershom Seneviratne, Jing Liang, Kasun Weerakoon, Mohamed Elnoor, Mohamed Khalid M Jaffar, Senthil Hariharan Arul, Vignesh Rajagopal","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T22:15:24Z","title":"BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.16484","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:a37e56690b3de785f315be1c8ae8ae22f1a1b7bcf49caeb2d39d0789ebee8b2c","target":"record","created_at":"2026-07-05T09:14:55Z","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":"2b93c08bada9075e99bbcb262c22a8d9877ac185100d969be7e12ff6ed2c6984","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T22:15:24Z","title_canon_sha256":"a115179843506d1b6187932b052a56898b0439b36012a43579a451e7867bb0ed"},"schema_version":"1.0","source":{"id":"2409.16484","kind":"arxiv","version":2}},"canonical_sha256":"400e99636a4e69f2dfcd59df0c51e1021506da06a1292653064ee425e1d7a0a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"400e99636a4e69f2dfcd59df0c51e1021506da06a1292653064ee425e1d7a0a6","first_computed_at":"2026-07-05T09:14:55.653595Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:14:55.653595Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tATPDuWnICL3mn4SaHipcJAVUNaC8q4l6I7XY1ax9xU/k7zpSvwP0kI4G83Sb3KLYw7BfqfPMsYW1sULv6QGBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:14:55.654075Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.16484","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a37e56690b3de785f315be1c8ae8ae22f1a1b7bcf49caeb2d39d0789ebee8b2c","sha256:579728e60ba08ce0b02abc609946c7cf16c5196f774254cf3c4aa0d1a69681c9"],"state_sha256":"f31ef3b2d9719e1dde7be95be56cc8d2e1b653376b011557ba42cc3f7137d133"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3WumxLHHeeisauGZYQK73PGgsP24qYqp2Nrzn+QKNoLQ/JsXPV39H+dvMbKpaWiGmodJk+bDV7EnxOWWpffKBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T19:51:51.133454Z","bundle_sha256":"7d78901e434d97b24648dfcf8d34fd186c00b7228192a763eae9ff15dac4b109"}}