{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:PGP5OQN42LIFWKJ3GIOY7KLIHD","short_pith_number":"pith:PGP5OQN4","canonical_record":{"source":{"id":"1702.03920","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-13T18:52:04Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"91b40cca3f73289eb8045d9c0650a5563436ee609d1f1f8f9c27f7b70a47c3e8","abstract_canon_sha256":"57dc62a35c246e8de667e48165fcbdab3482bed5bc3073caa74f2adc80781e91"},"schema_version":"1.0"},"canonical_sha256":"799fd741bcd2d05b293b321d8fa96838d25bac97cc9f1ebe9a6de51e48f52012","source":{"kind":"arxiv","id":"1702.03920","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.03920","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"arxiv_version","alias_value":"1702.03920v3","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.03920","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"pith_short_12","alias_value":"PGP5OQN42LIF","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_16","alias_value":"PGP5OQN42LIFWKJ3","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_8","alias_value":"PGP5OQN4","created_at":"2026-05-18T12:31:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:PGP5OQN42LIFWKJ3GIOY7KLIHD","target":"record","payload":{"canonical_record":{"source":{"id":"1702.03920","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-13T18:52:04Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"91b40cca3f73289eb8045d9c0650a5563436ee609d1f1f8f9c27f7b70a47c3e8","abstract_canon_sha256":"57dc62a35c246e8de667e48165fcbdab3482bed5bc3073caa74f2adc80781e91"},"schema_version":"1.0"},"canonical_sha256":"799fd741bcd2d05b293b321d8fa96838d25bac97cc9f1ebe9a6de51e48f52012","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:54:36.901090Z","signature_b64":"6wgh8JUvrMVJFTg8P097Hfe2Fm7AVCTURVjaY2cM4PCO6FCXyxHHFQltiuRcVrR1dkAUVi3EMGF6AvkKHi1cCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"799fd741bcd2d05b293b321d8fa96838d25bac97cc9f1ebe9a6de51e48f52012","last_reissued_at":"2026-05-17T23:54:36.900462Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:54:36.900462Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1702.03920","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:54:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xeg4/XNXAVrrV3zb7P7FmggplyxwPprTvZLC2VtWUE4OcYEob7bf2IUGxpUtO7TqF8dZguhqrzoFzHsP0t+PDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T18:46:05.362089Z"},"content_sha256":"39155a22d0e4db752336d6a8722d323b4bcaab04df58f7eca2ad948ae61f9603","schema_version":"1.0","event_id":"sha256:39155a22d0e4db752336d6a8722d323b4bcaab04df58f7eca2ad948ae61f9603"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:PGP5OQN42LIFWKJ3GIOY7KLIHD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cognitive Mapping and Planning for Visual Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"James Davidson, Jitendra Malik, Rahul Sukthankar, Saurabh Gupta, Sergey Levine, Varun Tolani","submitted_at":"2017-02-13T18:52:04Z","abstract_excerpt":"We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner (CMP) is based on two key ideas: a) a unified joint architecture for mapping and planning, such that the mapping is driven by the needs of the task, and b) a spatial memory with the ability to plan given an incomplete set of observations about the world. CMP constructs a top-down belief map of the world and applies a differentiable neural net planner to produce "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.03920","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-17T23:54:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+79sFOE1TOkHFcs72H2ekfenB2CPPBz0GskcUXCKkWsFRnUSutvLtMPVwhV6ASNwjMu4A/Wx8Ya8+TGTz7fnAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T18:46:05.362750Z"},"content_sha256":"af36b901f42aa67f6efcfe4ce68524e13bc82ac8f368e70f016a4778d2569ee9","schema_version":"1.0","event_id":"sha256:af36b901f42aa67f6efcfe4ce68524e13bc82ac8f368e70f016a4778d2569ee9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/bundle.json","state_url":"https://pith.science/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/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":"2026-05-28T18:46:05Z","links":{"resolver":"https://pith.science/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD","bundle":"https://pith.science/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/bundle.json","state":"https://pith.science/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PGP5OQN42LIFWKJ3GIOY7KLIHD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:PGP5OQN42LIFWKJ3GIOY7KLIHD","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":"57dc62a35c246e8de667e48165fcbdab3482bed5bc3073caa74f2adc80781e91","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-13T18:52:04Z","title_canon_sha256":"91b40cca3f73289eb8045d9c0650a5563436ee609d1f1f8f9c27f7b70a47c3e8"},"schema_version":"1.0","source":{"id":"1702.03920","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.03920","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"arxiv_version","alias_value":"1702.03920v3","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.03920","created_at":"2026-05-17T23:54:36Z"},{"alias_kind":"pith_short_12","alias_value":"PGP5OQN42LIF","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_16","alias_value":"PGP5OQN42LIFWKJ3","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_8","alias_value":"PGP5OQN4","created_at":"2026-05-18T12:31:37Z"}],"graph_snapshots":[{"event_id":"sha256:af36b901f42aa67f6efcfe4ce68524e13bc82ac8f368e70f016a4778d2569ee9","target":"graph","created_at":"2026-05-17T23:54:36Z","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"},"paper":{"abstract_excerpt":"We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner (CMP) is based on two key ideas: a) a unified joint architecture for mapping and planning, such that the mapping is driven by the needs of the task, and b) a spatial memory with the ability to plan given an incomplete set of observations about the world. CMP constructs a top-down belief map of the world and applies a differentiable neural net planner to produce ","authors_text":"James Davidson, Jitendra Malik, Rahul Sukthankar, Saurabh Gupta, Sergey Levine, Varun Tolani","cross_cats":["cs.AI","cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-13T18:52:04Z","title":"Cognitive Mapping and Planning for Visual Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.03920","kind":"arxiv","version":3},"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":"sha256:39155a22d0e4db752336d6a8722d323b4bcaab04df58f7eca2ad948ae61f9603","target":"record","created_at":"2026-05-17T23:54:36Z","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":"57dc62a35c246e8de667e48165fcbdab3482bed5bc3073caa74f2adc80781e91","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2017-02-13T18:52:04Z","title_canon_sha256":"91b40cca3f73289eb8045d9c0650a5563436ee609d1f1f8f9c27f7b70a47c3e8"},"schema_version":"1.0","source":{"id":"1702.03920","kind":"arxiv","version":3}},"canonical_sha256":"799fd741bcd2d05b293b321d8fa96838d25bac97cc9f1ebe9a6de51e48f52012","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"799fd741bcd2d05b293b321d8fa96838d25bac97cc9f1ebe9a6de51e48f52012","first_computed_at":"2026-05-17T23:54:36.900462Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:54:36.900462Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6wgh8JUvrMVJFTg8P097Hfe2Fm7AVCTURVjaY2cM4PCO6FCXyxHHFQltiuRcVrR1dkAUVi3EMGF6AvkKHi1cCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:54:36.901090Z","signed_message":"canonical_sha256_bytes"},"source_id":"1702.03920","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:39155a22d0e4db752336d6a8722d323b4bcaab04df58f7eca2ad948ae61f9603","sha256:af36b901f42aa67f6efcfe4ce68524e13bc82ac8f368e70f016a4778d2569ee9"],"state_sha256":"cb534e088d78dfd0fa821569b2adcc3d7b31ccc5e6e9efc2f62cba05e83d3caa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"59pQbvcuQEgaG1G8buwXYpElNF3+Vd0/RcWw0DAu5Q9wusFOndrSuri7ouQqQ/2mTw0IkfsnafyQUJRbWf6nAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T18:46:05.366081Z","bundle_sha256":"5a70cc70da3f3dda26cf0e4aea67b590fab49db16edb14eea255499345fccba1"}}