{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:KSQPANAA627KSTGJLVMRD3EAPY","short_pith_number":"pith:KSQPANAA","canonical_record":{"source":{"id":"1909.04306","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-09-10T06:02:15Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"17259edb0a6016904c16a61ffa04f734e9f977f3722826d687f860db4a899d2d","abstract_canon_sha256":"ad403a11755eb9bea51ef4c1a1b1471b8ecb0e88af657e2468e53bf34c6fe93a"},"schema_version":"1.0"},"canonical_sha256":"54a0f03400f6bea94cc95d5911ec807e12c351ee1ebf70795b9f0e8afd8f724c","source":{"kind":"arxiv","id":"1909.04306","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.04306","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"arxiv_version","alias_value":"1909.04306v1","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.04306","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_12","alias_value":"KSQPANAA627K","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_16","alias_value":"KSQPANAA627KSTGJ","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_8","alias_value":"KSQPANAA","created_at":"2026-07-05T00:03:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:KSQPANAA627KSTGJLVMRD3EAPY","target":"record","payload":{"canonical_record":{"source":{"id":"1909.04306","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-09-10T06:02:15Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"17259edb0a6016904c16a61ffa04f734e9f977f3722826d687f860db4a899d2d","abstract_canon_sha256":"ad403a11755eb9bea51ef4c1a1b1471b8ecb0e88af657e2468e53bf34c6fe93a"},"schema_version":"1.0"},"canonical_sha256":"54a0f03400f6bea94cc95d5911ec807e12c351ee1ebf70795b9f0e8afd8f724c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:03:20.754170Z","signature_b64":"DDT6mOxLMmKnx2zdtsSy3bVK2AfuWKqmmu8+6srqebeU/Mp9reH6p4mOEfk2rs0eyIPGuZ0igAgKxzNBm0TUAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"54a0f03400f6bea94cc95d5911ec807e12c351ee1ebf70795b9f0e8afd8f724c","last_reissued_at":"2026-07-05T00:03:20.753646Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:03:20.753646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1909.04306","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":"2026-07-05T00:03:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"S9GN9DHv12sS1h4BH0gAKmDD7BnCeLOUFjpQM5uUk3j0a9nuZthc+tdIIJOLNeKuPZBON2AEg2gw5Ts4EpHgAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T01:10:38.886240Z"},"content_sha256":"ad73da43a9dea108c5337de9ce98e6f1c0f0d336d0d0757f0120723d96b25442","schema_version":"1.0","event_id":"sha256:ad73da43a9dea108c5337de9ce98e6f1c0f0d336d0d0757f0120723d96b25442"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:KSQPANAA627KSTGJLVMRD3EAPY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bayesian Relational Memory for Semantic Visual Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Aviv Tamar, Georgia Gkioxari, Stuart Russell, Yi Wu, Yuandong Tian, Yuxin Wu","submitted_at":"2019-09-10T06:02:15Z","abstract_excerpt":"We introduce a new memory architecture, Bayesian Relational Memory (BRM), to improve the generalization ability for semantic visual navigation agents in unseen environments, where an agent is given a semantic target to navigate towards. BRM takes the form of a probabilistic relation graph over semantic entities (e.g., room types), which allows (1) capturing the layout prior from training environments, i.e., prior knowledge, (2) estimating posterior layout at test time, i.e., memory update, and (3) efficient planning for navigation, altogether. We develop a BRM agent consisting of a BRM module "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.04306","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/1909.04306/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":"2026-07-05T00:03:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kv+wmNVCJYnQWb72O7UPDhJrsRElm4JCiha+yb4flnYDDtw8qqLE2d62MlN4L6XjpQNRjVNr/HPH1+wjbTgoAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T01:10:38.886759Z"},"content_sha256":"94e0a4db8966cf531c6d0013b5f2ef04e2481b2c45393b2652ccf3c7a608755e","schema_version":"1.0","event_id":"sha256:94e0a4db8966cf531c6d0013b5f2ef04e2481b2c45393b2652ccf3c7a608755e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KSQPANAA627KSTGJLVMRD3EAPY/bundle.json","state_url":"https://pith.science/pith/KSQPANAA627KSTGJLVMRD3EAPY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KSQPANAA627KSTGJLVMRD3EAPY/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":"2026-08-06T01:10:38Z","links":{"resolver":"https://pith.science/pith/KSQPANAA627KSTGJLVMRD3EAPY","bundle":"https://pith.science/pith/KSQPANAA627KSTGJLVMRD3EAPY/bundle.json","state":"https://pith.science/pith/KSQPANAA627KSTGJLVMRD3EAPY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KSQPANAA627KSTGJLVMRD3EAPY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KSQPANAA627KSTGJLVMRD3EAPY","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":"ad403a11755eb9bea51ef4c1a1b1471b8ecb0e88af657e2468e53bf34c6fe93a","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-09-10T06:02:15Z","title_canon_sha256":"17259edb0a6016904c16a61ffa04f734e9f977f3722826d687f860db4a899d2d"},"schema_version":"1.0","source":{"id":"1909.04306","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.04306","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"arxiv_version","alias_value":"1909.04306v1","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.04306","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_12","alias_value":"KSQPANAA627K","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_16","alias_value":"KSQPANAA627KSTGJ","created_at":"2026-07-05T00:03:20Z"},{"alias_kind":"pith_short_8","alias_value":"KSQPANAA","created_at":"2026-07-05T00:03:20Z"}],"graph_snapshots":[{"event_id":"sha256:94e0a4db8966cf531c6d0013b5f2ef04e2481b2c45393b2652ccf3c7a608755e","target":"graph","created_at":"2026-07-05T00:03:20Z","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/1909.04306/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce a new memory architecture, Bayesian Relational Memory (BRM), to improve the generalization ability for semantic visual navigation agents in unseen environments, where an agent is given a semantic target to navigate towards. BRM takes the form of a probabilistic relation graph over semantic entities (e.g., room types), which allows (1) capturing the layout prior from training environments, i.e., prior knowledge, (2) estimating posterior layout at test time, i.e., memory update, and (3) efficient planning for navigation, altogether. We develop a BRM agent consisting of a BRM module ","authors_text":"Aviv Tamar, Georgia Gkioxari, Stuart Russell, Yi Wu, Yuandong Tian, Yuxin Wu","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-09-10T06:02:15Z","title":"Bayesian Relational Memory for Semantic Visual Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.04306","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:ad73da43a9dea108c5337de9ce98e6f1c0f0d336d0d0757f0120723d96b25442","target":"record","created_at":"2026-07-05T00:03:20Z","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":"ad403a11755eb9bea51ef4c1a1b1471b8ecb0e88af657e2468e53bf34c6fe93a","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2019-09-10T06:02:15Z","title_canon_sha256":"17259edb0a6016904c16a61ffa04f734e9f977f3722826d687f860db4a899d2d"},"schema_version":"1.0","source":{"id":"1909.04306","kind":"arxiv","version":1}},"canonical_sha256":"54a0f03400f6bea94cc95d5911ec807e12c351ee1ebf70795b9f0e8afd8f724c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"54a0f03400f6bea94cc95d5911ec807e12c351ee1ebf70795b9f0e8afd8f724c","first_computed_at":"2026-07-05T00:03:20.753646Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:03:20.753646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DDT6mOxLMmKnx2zdtsSy3bVK2AfuWKqmmu8+6srqebeU/Mp9reH6p4mOEfk2rs0eyIPGuZ0igAgKxzNBm0TUAA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:03:20.754170Z","signed_message":"canonical_sha256_bytes"},"source_id":"1909.04306","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ad73da43a9dea108c5337de9ce98e6f1c0f0d336d0d0757f0120723d96b25442","sha256:94e0a4db8966cf531c6d0013b5f2ef04e2481b2c45393b2652ccf3c7a608755e"],"state_sha256":"6a31de00c50240ebe00b027f0321424c207ba82de036a308e6640e0ce347e0eb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uIZdOeBxmp0VEKRAtZTkYcMCKzQYBSlaY67jhYtLBQMiJOInbGzmUKrkCq6Ak/fLzLuMqOY4Mq/Q/GFgxakYCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T01:10:38.892287Z","bundle_sha256":"ad0120dda5171317687256a0caf6795985d7c3870894089fe3ea2c04667fdcbb"}}