{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:OOUM44PB3D5G4FUZI7VL2AGWSW","short_pith_number":"pith:OOUM44PB","canonical_record":{"source":{"id":"2606.31471","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T10:49:21Z","cross_cats_sorted":[],"title_canon_sha256":"e2acb43f819dd6464ae70e3ff1f7748622f9331033f3e1a103f39a1535adcf3b","abstract_canon_sha256":"a9678896df68e464a814ef389795123dd504af27ee658ab3b268126a59385c00"},"schema_version":"1.0"},"canonical_sha256":"73a8ce71e1d8fa6e169947eabd00d695bd2ec745bd69be5af03d1f5b57bd3cc1","source":{"kind":"arxiv","id":"2606.31471","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.31471","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"arxiv_version","alias_value":"2606.31471v1","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.31471","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_12","alias_value":"OOUM44PB3D5G","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_16","alias_value":"OOUM44PB3D5G4FUZ","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_8","alias_value":"OOUM44PB","created_at":"2026-07-01T01:18:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:OOUM44PB3D5G4FUZI7VL2AGWSW","target":"record","payload":{"canonical_record":{"source":{"id":"2606.31471","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T10:49:21Z","cross_cats_sorted":[],"title_canon_sha256":"e2acb43f819dd6464ae70e3ff1f7748622f9331033f3e1a103f39a1535adcf3b","abstract_canon_sha256":"a9678896df68e464a814ef389795123dd504af27ee658ab3b268126a59385c00"},"schema_version":"1.0"},"canonical_sha256":"73a8ce71e1d8fa6e169947eabd00d695bd2ec745bd69be5af03d1f5b57bd3cc1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-01T01:18:04.325755Z","signature_b64":"MxkiUF92z1ROebYQbGDEYqCEPRynIOM0kP7pfAeebPjNqwjGGxGdFnoaP84loOZvOFhhZJPXK0rSUR4WMTpXDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"73a8ce71e1d8fa6e169947eabd00d695bd2ec745bd69be5af03d1f5b57bd3cc1","last_reissued_at":"2026-07-01T01:18:04.325331Z","signature_status":"signed_v1","first_computed_at":"2026-07-01T01:18:04.325331Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.31471","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":"2026-07-01T01:18:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A3ovehZyBVXXq8Ipz5Zd3oxEaG35Z+hQQNrZLu935BmUS2ENpMj0nmREPYAV55TMUhXGqNmbGpC8uBuIuSnaBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T15:36:24.786947Z"},"content_sha256":"8399e5f1fb42e9f4a20bdf20cb4c28bb6c41f8302f48d8a37ce431d5c43d53ce","schema_version":"1.0","event_id":"sha256:8399e5f1fb42e9f4a20bdf20cb4c28bb6c41f8302f48d8a37ce431d5c43d53ce"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:OOUM44PB3D5G4FUZI7VL2AGWSW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Think While You Map: Asynchronous Vision-Language Agents for Incremental 3D Scene Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Deniz Bickici, Dieter Schmalstieg, Michael Pabst, Shohei Mori","submitted_at":"2026-06-30T10:49:21Z","abstract_excerpt":"Open-vocabulary 3D scene graph methods typically operate in two stages: first reconstruct, then enrich with vision-language models, leaving the graph unqueryable during exploration. We argue that this sequential coupling is unnecessary and propose an asynchronous architecture in which lightweight online mapping runs concurrently with heavyweight semantic refinement. A probabilistic voxel-based backbone maintains stable object identities incrementally, while background VLM agents progressively enrich the graph. This framework resolves duplicate object tracks through semantic loop closure, attac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.31471","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/2606.31471/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":"2026-07-01T01:18:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"adsmCRdZ1rsizjjDUR2t0J+LdQOKJCpFfj/flcqC3gLAkTzIJRzasLjjhC3As6M7FB6HDaZDfYDhzmk7OUYxDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T15:36:24.787348Z"},"content_sha256":"2ee898a3d0bd0bdb5b9e19af0b9e6caffd89b0e048ebb89fe85ac06602fef6ab","schema_version":"1.0","event_id":"sha256:2ee898a3d0bd0bdb5b9e19af0b9e6caffd89b0e048ebb89fe85ac06602fef6ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/bundle.json","state_url":"https://pith.science/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/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":"2026-07-01T15:36:24Z","links":{"resolver":"https://pith.science/pith/OOUM44PB3D5G4FUZI7VL2AGWSW","bundle":"https://pith.science/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/bundle.json","state":"https://pith.science/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OOUM44PB3D5G4FUZI7VL2AGWSW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:OOUM44PB3D5G4FUZI7VL2AGWSW","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":"a9678896df68e464a814ef389795123dd504af27ee658ab3b268126a59385c00","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T10:49:21Z","title_canon_sha256":"e2acb43f819dd6464ae70e3ff1f7748622f9331033f3e1a103f39a1535adcf3b"},"schema_version":"1.0","source":{"id":"2606.31471","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.31471","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"arxiv_version","alias_value":"2606.31471v1","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.31471","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_12","alias_value":"OOUM44PB3D5G","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_16","alias_value":"OOUM44PB3D5G4FUZ","created_at":"2026-07-01T01:18:04Z"},{"alias_kind":"pith_short_8","alias_value":"OOUM44PB","created_at":"2026-07-01T01:18:04Z"}],"graph_snapshots":[{"event_id":"sha256:2ee898a3d0bd0bdb5b9e19af0b9e6caffd89b0e048ebb89fe85ac06602fef6ab","target":"graph","created_at":"2026-07-01T01:18:04Z","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/2606.31471/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Open-vocabulary 3D scene graph methods typically operate in two stages: first reconstruct, then enrich with vision-language models, leaving the graph unqueryable during exploration. We argue that this sequential coupling is unnecessary and propose an asynchronous architecture in which lightweight online mapping runs concurrently with heavyweight semantic refinement. A probabilistic voxel-based backbone maintains stable object identities incrementally, while background VLM agents progressively enrich the graph. This framework resolves duplicate object tracks through semantic loop closure, attac","authors_text":"Deniz Bickici, Dieter Schmalstieg, Michael Pabst, Shohei Mori","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T10:49:21Z","title":"Think While You Map: Asynchronous Vision-Language Agents for Incremental 3D Scene Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.31471","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":"sha256:8399e5f1fb42e9f4a20bdf20cb4c28bb6c41f8302f48d8a37ce431d5c43d53ce","target":"record","created_at":"2026-07-01T01:18:04Z","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":"a9678896df68e464a814ef389795123dd504af27ee658ab3b268126a59385c00","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-30T10:49:21Z","title_canon_sha256":"e2acb43f819dd6464ae70e3ff1f7748622f9331033f3e1a103f39a1535adcf3b"},"schema_version":"1.0","source":{"id":"2606.31471","kind":"arxiv","version":1}},"canonical_sha256":"73a8ce71e1d8fa6e169947eabd00d695bd2ec745bd69be5af03d1f5b57bd3cc1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"73a8ce71e1d8fa6e169947eabd00d695bd2ec745bd69be5af03d1f5b57bd3cc1","first_computed_at":"2026-07-01T01:18:04.325331Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-01T01:18:04.325331Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MxkiUF92z1ROebYQbGDEYqCEPRynIOM0kP7pfAeebPjNqwjGGxGdFnoaP84loOZvOFhhZJPXK0rSUR4WMTpXDw==","signature_status":"signed_v1","signed_at":"2026-07-01T01:18:04.325755Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.31471","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8399e5f1fb42e9f4a20bdf20cb4c28bb6c41f8302f48d8a37ce431d5c43d53ce","sha256:2ee898a3d0bd0bdb5b9e19af0b9e6caffd89b0e048ebb89fe85ac06602fef6ab"],"state_sha256":"bb5ef855d87f693ed6db4814c2106034fdb5a1a4478b022373fc5e93848a2197"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f60G1AYc/KVptxDIF0I2o5bNb+Q4CWiQ4AJLhkd6NCMQ/klRL0pg2fIYnrf54rTkEpXx2DJQiHdiSVcAc+AiDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-01T15:36:24.789561Z","bundle_sha256":"c0cb43ed7923bbe7906c8ee6edf9035d189afc08dbd49b9ac4006558ef1754b8"}}