{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:J3BWZGJD44LCU4VP5F7AKEDQFM","short_pith_number":"pith:J3BWZGJD","canonical_record":{"source":{"id":"2309.10309","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T04:41:22Z","cross_cats_sorted":[],"title_canon_sha256":"cf07f569fe020a9a933be81b0798788569bc68adcd29c964ed7918222336ff85","abstract_canon_sha256":"bcf3a68c985fa528a221736e4102925b029199936e58ee90922df44d1d9755f6"},"schema_version":"1.0"},"canonical_sha256":"4ec36c9923e7162a72afe97e0510702b1c0d5731d3e30bee1cb2464e81c4caf2","source":{"kind":"arxiv","id":"2309.10309","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.10309","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"arxiv_version","alias_value":"2309.10309v2","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.10309","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_12","alias_value":"J3BWZGJD44LC","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_16","alias_value":"J3BWZGJD44LCU4VP","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_8","alias_value":"J3BWZGJD","created_at":"2026-07-05T06:52:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:J3BWZGJD44LCU4VP5F7AKEDQFM","target":"record","payload":{"canonical_record":{"source":{"id":"2309.10309","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T04:41:22Z","cross_cats_sorted":[],"title_canon_sha256":"cf07f569fe020a9a933be81b0798788569bc68adcd29c964ed7918222336ff85","abstract_canon_sha256":"bcf3a68c985fa528a221736e4102925b029199936e58ee90922df44d1d9755f6"},"schema_version":"1.0"},"canonical_sha256":"4ec36c9923e7162a72afe97e0510702b1c0d5731d3e30bee1cb2464e81c4caf2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:52:50.375115Z","signature_b64":"mNTauBI5Y80fUxKBlm4ybI0QY1f2Q4ydDhdnwArlKbcERFy+AL87NEUtyR4k2PvLzZaJLIC/ppKo3P6JEmkwCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ec36c9923e7162a72afe97e0510702b1c0d5731d3e30bee1cb2464e81c4caf2","last_reissued_at":"2026-07-05T06:52:50.374643Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:52:50.374643Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.10309","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":"2026-07-05T06:52:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vqOIGIeVaghvGpf8m5JaHV7HRgHwKeyvaw4H14RePuLRvMjoqjBXaOjbQzz1XVqvHCkObUdoTAQVvsGPG+jbDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:20:10.737655Z"},"content_sha256":"05286693251ff77440cb22b40220be337cea4225bc788a32c655a932c26a4930","schema_version":"1.0","event_id":"sha256:05286693251ff77440cb22b40220be337cea4225bc788a32c655a932c26a4930"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:J3BWZGJD44LCU4VP5F7AKEDQFM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Changyin Sun, Guangran Cheng, Hao Dong, Peng Gao, Siyuan Huang, Wenzhe Cai, Yuxing Long","submitted_at":"2023-09-19T04:41:22Z","abstract_excerpt":"Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the locomotion part, most works still depend on map-based planning approaches. The gap between RGB space and map space makes it difficult to directly transfer the knowledge from foundation models to navigation tasks. In this work, we propose a Pixel-guided Navigation skill (PixNav), which bridges the gap between the foundation models and the embodied navigation task. It"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10309","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/2309.10309/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":"2026-07-05T06:52:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v6IbrjZ67l1Ehr7+gxaIzU8c1TYQunx2fTSmRckNZEOfiGV7bk7GmnbssXCqYK/n/kapj7RZ8ZpaHwPJfafwAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:20:10.738656Z"},"content_sha256":"6dac35e40a2f741170c301f598fb6d180bafac5e45c4971806aaf81e6172c334","schema_version":"1.0","event_id":"sha256:6dac35e40a2f741170c301f598fb6d180bafac5e45c4971806aaf81e6172c334"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/bundle.json","state_url":"https://pith.science/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/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":"2026-08-03T16:20:10Z","links":{"resolver":"https://pith.science/pith/J3BWZGJD44LCU4VP5F7AKEDQFM","bundle":"https://pith.science/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/bundle.json","state":"https://pith.science/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J3BWZGJD44LCU4VP5F7AKEDQFM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:J3BWZGJD44LCU4VP5F7AKEDQFM","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":"bcf3a68c985fa528a221736e4102925b029199936e58ee90922df44d1d9755f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T04:41:22Z","title_canon_sha256":"cf07f569fe020a9a933be81b0798788569bc68adcd29c964ed7918222336ff85"},"schema_version":"1.0","source":{"id":"2309.10309","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.10309","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"arxiv_version","alias_value":"2309.10309v2","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.10309","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_12","alias_value":"J3BWZGJD44LC","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_16","alias_value":"J3BWZGJD44LCU4VP","created_at":"2026-07-05T06:52:50Z"},{"alias_kind":"pith_short_8","alias_value":"J3BWZGJD","created_at":"2026-07-05T06:52:50Z"}],"graph_snapshots":[{"event_id":"sha256:6dac35e40a2f741170c301f598fb6d180bafac5e45c4971806aaf81e6172c334","target":"graph","created_at":"2026-07-05T06:52:50Z","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/2309.10309/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the locomotion part, most works still depend on map-based planning approaches. The gap between RGB space and map space makes it difficult to directly transfer the knowledge from foundation models to navigation tasks. In this work, we propose a Pixel-guided Navigation skill (PixNav), which bridges the gap between the foundation models and the embodied navigation task. It","authors_text":"Changyin Sun, Guangran Cheng, Hao Dong, Peng Gao, Siyuan Huang, Wenzhe Cai, Yuxing Long","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T04:41:22Z","title":"Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10309","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":"sha256:05286693251ff77440cb22b40220be337cea4225bc788a32c655a932c26a4930","target":"record","created_at":"2026-07-05T06:52:50Z","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":"bcf3a68c985fa528a221736e4102925b029199936e58ee90922df44d1d9755f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T04:41:22Z","title_canon_sha256":"cf07f569fe020a9a933be81b0798788569bc68adcd29c964ed7918222336ff85"},"schema_version":"1.0","source":{"id":"2309.10309","kind":"arxiv","version":2}},"canonical_sha256":"4ec36c9923e7162a72afe97e0510702b1c0d5731d3e30bee1cb2464e81c4caf2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ec36c9923e7162a72afe97e0510702b1c0d5731d3e30bee1cb2464e81c4caf2","first_computed_at":"2026-07-05T06:52:50.374643Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:52:50.374643Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mNTauBI5Y80fUxKBlm4ybI0QY1f2Q4ydDhdnwArlKbcERFy+AL87NEUtyR4k2PvLzZaJLIC/ppKo3P6JEmkwCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:52:50.375115Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.10309","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05286693251ff77440cb22b40220be337cea4225bc788a32c655a932c26a4930","sha256:6dac35e40a2f741170c301f598fb6d180bafac5e45c4971806aaf81e6172c334"],"state_sha256":"ea0e81cd2ad08f4275477e6e0d72ccfdc22997286d8c1c5526382b949736bfe3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GGtNZyXSU4vVw5u2m5Kj3Sq6Dwey8/nDSqb9ANaImgkoWonxdo9CId0gz5xmwvo0xoX7/was8M9WuZBUnDPNAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:20:10.745988Z","bundle_sha256":"0a45157daf28f62270b75b206e0d6200afbc853f262d4bd00fcc0a7ac216976a"}}