{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:INEI7D4YH3T3HQ4OR273NTZDHR","short_pith_number":"pith:INEI7D4Y","canonical_record":{"source":{"id":"2403.15223","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-22T14:15:27Z","cross_cats_sorted":[],"title_canon_sha256":"1edb02ee9037c3cb6eac0bd93abac60c60d31fefb007965a5831ffd0ce82e00b","abstract_canon_sha256":"0ea3f91777d00f0d2bc753acd24918657d10a656ae564bedd86d81b334ef99ec"},"schema_version":"1.0"},"canonical_sha256":"43488f8f983ee7b3c38e8ebfb6cf233c7e2d83e8f92cc8a9b3875d61e6dad9df","source":{"kind":"arxiv","id":"2403.15223","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.15223","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"arxiv_version","alias_value":"2403.15223v1","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.15223","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_12","alias_value":"INEI7D4YH3T3","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_16","alias_value":"INEI7D4YH3T3HQ4O","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_8","alias_value":"INEI7D4Y","created_at":"2026-07-05T07:59:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:INEI7D4YH3T3HQ4OR273NTZDHR","target":"record","payload":{"canonical_record":{"source":{"id":"2403.15223","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-22T14:15:27Z","cross_cats_sorted":[],"title_canon_sha256":"1edb02ee9037c3cb6eac0bd93abac60c60d31fefb007965a5831ffd0ce82e00b","abstract_canon_sha256":"0ea3f91777d00f0d2bc753acd24918657d10a656ae564bedd86d81b334ef99ec"},"schema_version":"1.0"},"canonical_sha256":"43488f8f983ee7b3c38e8ebfb6cf233c7e2d83e8f92cc8a9b3875d61e6dad9df","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:59:31.945508Z","signature_b64":"mGHcpOSzAW3262lNiRToSvZkmmQfvwrqnQLGN4YDeMxIRCUrPBzlBdngotbqeZDtfOMOs37gRW0Te3Zc2lu4CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"43488f8f983ee7b3c38e8ebfb6cf233c7e2d83e8f92cc8a9b3875d61e6dad9df","last_reissued_at":"2026-07-05T07:59:31.945083Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:59:31.945083Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.15223","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":"2026-07-05T07:59:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L5G4PJMIkNnhqFMJHOfRqiSvTIwrYu93GNcLkFgMBW4wVozEIHHNlVHImREC/xqhofppXoqIVINiOTe76RyBCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-18T18:30:26.607640Z"},"content_sha256":"3b355abf70fb094b94a83513cee585fd995ef91959aa60268dc5c666c28746a7","schema_version":"1.0","event_id":"sha256:3b355abf70fb094b94a83513cee585fd995ef91959aa60268dc5c666c28746a7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:INEI7D4YH3T3HQ4OR273NTZDHR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TriHelper: Zero-Shot Object Navigation with Dynamic Assistance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Erjia Xiao, Hao Wang, Honglei Chen, Lingfeng Zhang, Qiang Zhang, Renjing Xu, Zixuan Jiang","submitted_at":"2024-03-22T14:15:27Z","abstract_excerpt":"Navigating toward specific objects in unknown environments without additional training, known as Zero-Shot object navigation, poses a significant challenge in the field of robotics, which demands high levels of auxiliary information and strategic planning. Traditional works have focused on holistic solutions, overlooking the specific challenges agents encounter during navigation such as collision, low exploration efficiency, and misidentification of targets. To address these challenges, our work proposes TriHelper, a novel framework designed to assist agents dynamically through three primary n"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.15223","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/2403.15223/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":"2026-07-05T07:59:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C9QvpSr913eWyeego6mqTReY82l4WM7/g399srsvYH86dFeAPTDFfrzxNN8fu5b4xFlr5lfY8OKSHtFFUTHgCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-18T18:30:26.608001Z"},"content_sha256":"56b49b47416ba4b414a743b5e61978c3b4bf44e388eb8fa218efb230a52a8789","schema_version":"1.0","event_id":"sha256:56b49b47416ba4b414a743b5e61978c3b4bf44e388eb8fa218efb230a52a8789"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/INEI7D4YH3T3HQ4OR273NTZDHR/bundle.json","state_url":"https://pith.science/pith/INEI7D4YH3T3HQ4OR273NTZDHR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/INEI7D4YH3T3HQ4OR273NTZDHR/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":"2026-07-18T18:30:26Z","links":{"resolver":"https://pith.science/pith/INEI7D4YH3T3HQ4OR273NTZDHR","bundle":"https://pith.science/pith/INEI7D4YH3T3HQ4OR273NTZDHR/bundle.json","state":"https://pith.science/pith/INEI7D4YH3T3HQ4OR273NTZDHR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/INEI7D4YH3T3HQ4OR273NTZDHR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:INEI7D4YH3T3HQ4OR273NTZDHR","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":"0ea3f91777d00f0d2bc753acd24918657d10a656ae564bedd86d81b334ef99ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-22T14:15:27Z","title_canon_sha256":"1edb02ee9037c3cb6eac0bd93abac60c60d31fefb007965a5831ffd0ce82e00b"},"schema_version":"1.0","source":{"id":"2403.15223","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.15223","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"arxiv_version","alias_value":"2403.15223v1","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.15223","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_12","alias_value":"INEI7D4YH3T3","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_16","alias_value":"INEI7D4YH3T3HQ4O","created_at":"2026-07-05T07:59:31Z"},{"alias_kind":"pith_short_8","alias_value":"INEI7D4Y","created_at":"2026-07-05T07:59:31Z"}],"graph_snapshots":[{"event_id":"sha256:56b49b47416ba4b414a743b5e61978c3b4bf44e388eb8fa218efb230a52a8789","target":"graph","created_at":"2026-07-05T07:59:31Z","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/2403.15223/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Navigating toward specific objects in unknown environments without additional training, known as Zero-Shot object navigation, poses a significant challenge in the field of robotics, which demands high levels of auxiliary information and strategic planning. Traditional works have focused on holistic solutions, overlooking the specific challenges agents encounter during navigation such as collision, low exploration efficiency, and misidentification of targets. To address these challenges, our work proposes TriHelper, a novel framework designed to assist agents dynamically through three primary n","authors_text":"Erjia Xiao, Hao Wang, Honglei Chen, Lingfeng Zhang, Qiang Zhang, Renjing Xu, Zixuan Jiang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-22T14:15:27Z","title":"TriHelper: Zero-Shot Object Navigation with Dynamic Assistance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.15223","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":"sha256:3b355abf70fb094b94a83513cee585fd995ef91959aa60268dc5c666c28746a7","target":"record","created_at":"2026-07-05T07:59:31Z","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":"0ea3f91777d00f0d2bc753acd24918657d10a656ae564bedd86d81b334ef99ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-22T14:15:27Z","title_canon_sha256":"1edb02ee9037c3cb6eac0bd93abac60c60d31fefb007965a5831ffd0ce82e00b"},"schema_version":"1.0","source":{"id":"2403.15223","kind":"arxiv","version":1}},"canonical_sha256":"43488f8f983ee7b3c38e8ebfb6cf233c7e2d83e8f92cc8a9b3875d61e6dad9df","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"43488f8f983ee7b3c38e8ebfb6cf233c7e2d83e8f92cc8a9b3875d61e6dad9df","first_computed_at":"2026-07-05T07:59:31.945083Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:59:31.945083Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mGHcpOSzAW3262lNiRToSvZkmmQfvwrqnQLGN4YDeMxIRCUrPBzlBdngotbqeZDtfOMOs37gRW0Te3Zc2lu4CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:59:31.945508Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.15223","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3b355abf70fb094b94a83513cee585fd995ef91959aa60268dc5c666c28746a7","sha256:56b49b47416ba4b414a743b5e61978c3b4bf44e388eb8fa218efb230a52a8789"],"state_sha256":"6b953d2e4c6d5400fa63cb3c0bde651fd346ac570ebbf73da2c58d3bc5e8db83"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RlXcgyALCkiALMYMnjWgu7Fj1H+hhO4LxdEznCZJ1p/TML3uJb0yHaRpeVlV3+ZU77x+f2ocEGgOw2eVmtRgAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-18T18:30:26.610509Z","bundle_sha256":"b6a5a68f4bf65c2946a1106c23910daf6a80ea671c8cc14002111b3ad5e18116"}}