{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:PUU2W7FAG3NTOWXWQC6DRCBQPZ","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":"a5541ec6c1d93926981dbf85a2653159fa970b611dfd0e0741b074d6b27ed4d6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-14T16:21:27Z","title_canon_sha256":"9958b0e92eb65cf116e3b893005abe32e3774f0951647278590fb09b4ff99a62"},"schema_version":"1.0","source":{"id":"2309.07832","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.07832","created_at":"2026-07-05T06:52:26Z"},{"alias_kind":"arxiv_version","alias_value":"2309.07832v2","created_at":"2026-07-05T06:52:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.07832","created_at":"2026-07-05T06:52:26Z"},{"alias_kind":"pith_short_12","alias_value":"PUU2W7FAG3NT","created_at":"2026-07-05T06:52:26Z"},{"alias_kind":"pith_short_16","alias_value":"PUU2W7FAG3NTOWXW","created_at":"2026-07-05T06:52:26Z"},{"alias_kind":"pith_short_8","alias_value":"PUU2W7FA","created_at":"2026-07-05T06:52:26Z"}],"graph_snapshots":[{"event_id":"sha256:c52145f3e2398329e7235084bf869a2efb6222c6a062f702c3f48e2d2fdf49e7","target":"graph","created_at":"2026-07-05T06:52:26Z","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/2309.07832/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present VAPOR, a novel method for autonomous legged robot navigation in unstructured, densely vegetated outdoor environments using offline Reinforcement Learning (RL). Our method trains a novel RL policy using an actor-critic network and arbitrary data collected in real outdoor vegetation. Our policy uses height and intensity-based cost maps derived from 3D LiDAR point clouds, a goal cost map, and processed proprioception data as state inputs, and learns the physical and geometric properties of the surrounding obstacles such as height, density, and solidity/stiffness. The fully-trained poli","authors_text":"Adarsh Jagan Sathyamoorthy, Dinesh Manocha, Kasun Weerakoon, Mohamed Elnoor","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-14T16:21:27Z","title":"VAPOR: Legged Robot Navigation in Outdoor Vegetation Using Offline Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.07832","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":"sha256:3a789ab9825f79b3c45e163ae561e50a8dff29c0a70231b1ca35bff0aa921cca","target":"record","created_at":"2026-07-05T06:52:26Z","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":"a5541ec6c1d93926981dbf85a2653159fa970b611dfd0e0741b074d6b27ed4d6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-14T16:21:27Z","title_canon_sha256":"9958b0e92eb65cf116e3b893005abe32e3774f0951647278590fb09b4ff99a62"},"schema_version":"1.0","source":{"id":"2309.07832","kind":"arxiv","version":2}},"canonical_sha256":"7d29ab7ca036db375af680bc3888307e72b6c902e00e2f9ccd6a70e37c573e5d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7d29ab7ca036db375af680bc3888307e72b6c902e00e2f9ccd6a70e37c573e5d","first_computed_at":"2026-07-05T06:52:26.281365Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:52:26.281365Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fpTYVcaulfMXeCaffC2ZerYLUXBa3itO8Auzf8RT/e5X2NZJQPawCnh5pBKeuRj8Uc06o1af7HHq3QUBDStJCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:52:26.281831Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.07832","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3a789ab9825f79b3c45e163ae561e50a8dff29c0a70231b1ca35bff0aa921cca","sha256:c52145f3e2398329e7235084bf869a2efb6222c6a062f702c3f48e2d2fdf49e7"],"state_sha256":"0c91f210a3fb386f660b13f60cec92c63952b0916cf65e4f2945bc3cbb8da5d0"}