{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:PWGIOR4JKKFXDTWWPAH5JZM6OE","short_pith_number":"pith:PWGIOR4J","canonical_record":{"source":{"id":"2210.07506","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-10-14T04:23:27Z","cross_cats_sorted":[],"title_canon_sha256":"19d10de7c772612aaf86f85ba08b94a5cb07d692c04c39c56cf696258cfa8082","abstract_canon_sha256":"efc44ecb85033311b366ac2ed51cd1732c014749cab2acc53a80ac69ae4fac91"},"schema_version":"1.0"},"canonical_sha256":"7d8c874789528b71ced6780fd4e59e711ac654505a3de4b0d4bad4e004cde13f","source":{"kind":"arxiv","id":"2210.07506","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.07506","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"arxiv_version","alias_value":"2210.07506v1","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.07506","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_12","alias_value":"PWGIOR4JKKFX","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_16","alias_value":"PWGIOR4JKKFXDTWW","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_8","alias_value":"PWGIOR4J","created_at":"2026-07-05T05:06:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:PWGIOR4JKKFXDTWWPAH5JZM6OE","target":"record","payload":{"canonical_record":{"source":{"id":"2210.07506","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-10-14T04:23:27Z","cross_cats_sorted":[],"title_canon_sha256":"19d10de7c772612aaf86f85ba08b94a5cb07d692c04c39c56cf696258cfa8082","abstract_canon_sha256":"efc44ecb85033311b366ac2ed51cd1732c014749cab2acc53a80ac69ae4fac91"},"schema_version":"1.0"},"canonical_sha256":"7d8c874789528b71ced6780fd4e59e711ac654505a3de4b0d4bad4e004cde13f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:06:38.050417Z","signature_b64":"rCtk3n8bFllY/IsukJxhX2DnTqq8ZnEz1zE1269GpzKocDE1hRteUWptaisbUJaK8DqXYOkW4XKv/lZo2SrJBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7d8c874789528b71ced6780fd4e59e711ac654505a3de4b0d4bad4e004cde13f","last_reissued_at":"2026-07-05T05:06:38.049997Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:06:38.049997Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.07506","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":"2026-07-05T05:06:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"icPoWWdEfXwhrjWhnWTPvB8nyiayWPEspmidIKz3vRQBi9/aHot/8wqws72H5qfVkQYAAkVoPw4qrRaAluVACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T18:49:35.035559Z"},"content_sha256":"168ea6b9610866c7f1f385e2923cede7c45b688c4b3a71488173aec873406bd4","schema_version":"1.0","event_id":"sha256:168ea6b9610866c7f1f385e2923cede7c45b688c4b3a71488173aec873406bd4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:PWGIOR4JKKFXDTWWPAH5JZM6OE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Chuang Gan, Dongyu Ji, Kunyang Lin, Mingkui Tan, Peihao Chen, Runhao Zeng, Thomas H. Li","submitted_at":"2022-10-14T04:23:27Z","abstract_excerpt":"We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To achieve accurate and efficient navigation, it is critical to build a map that accurately represents both spatial location and the semantic information of the environment objects. However, enabling a robot to build a map that well represents the environment is extremely challenging as the environment often involves diverse objects with various attributes. In th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.07506","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/2210.07506/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":"2026-07-05T05:06:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FKA9gPYhd5C1QDc3sUHT5D3XXk8tF9xkm1Q8Mg9CvA9sxI3njTaTZOk27012h8NQE56JQbMB+EWFh6Qbsm0ACw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T18:49:35.036467Z"},"content_sha256":"b499148e87a07998171bb77f5b68f57ebd3f1e9b75d5bbad9741399b762b8fba","schema_version":"1.0","event_id":"sha256:b499148e87a07998171bb77f5b68f57ebd3f1e9b75d5bbad9741399b762b8fba"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/bundle.json","state_url":"https://pith.science/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/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":"2026-08-03T18:49:35Z","links":{"resolver":"https://pith.science/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE","bundle":"https://pith.science/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/bundle.json","state":"https://pith.science/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PWGIOR4JKKFXDTWWPAH5JZM6OE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PWGIOR4JKKFXDTWWPAH5JZM6OE","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":"efc44ecb85033311b366ac2ed51cd1732c014749cab2acc53a80ac69ae4fac91","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-10-14T04:23:27Z","title_canon_sha256":"19d10de7c772612aaf86f85ba08b94a5cb07d692c04c39c56cf696258cfa8082"},"schema_version":"1.0","source":{"id":"2210.07506","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.07506","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"arxiv_version","alias_value":"2210.07506v1","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.07506","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_12","alias_value":"PWGIOR4JKKFX","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_16","alias_value":"PWGIOR4JKKFXDTWW","created_at":"2026-07-05T05:06:38Z"},{"alias_kind":"pith_short_8","alias_value":"PWGIOR4J","created_at":"2026-07-05T05:06:38Z"}],"graph_snapshots":[{"event_id":"sha256:b499148e87a07998171bb77f5b68f57ebd3f1e9b75d5bbad9741399b762b8fba","target":"graph","created_at":"2026-07-05T05:06:38Z","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/2210.07506/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To achieve accurate and efficient navigation, it is critical to build a map that accurately represents both spatial location and the semantic information of the environment objects. However, enabling a robot to build a map that well represents the environment is extremely challenging as the environment often involves diverse objects with various attributes. In th","authors_text":"Chuang Gan, Dongyu Ji, Kunyang Lin, Mingkui Tan, Peihao Chen, Runhao Zeng, Thomas H. Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-10-14T04:23:27Z","title":"Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.07506","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":"sha256:168ea6b9610866c7f1f385e2923cede7c45b688c4b3a71488173aec873406bd4","target":"record","created_at":"2026-07-05T05:06:38Z","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":"efc44ecb85033311b366ac2ed51cd1732c014749cab2acc53a80ac69ae4fac91","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-10-14T04:23:27Z","title_canon_sha256":"19d10de7c772612aaf86f85ba08b94a5cb07d692c04c39c56cf696258cfa8082"},"schema_version":"1.0","source":{"id":"2210.07506","kind":"arxiv","version":1}},"canonical_sha256":"7d8c874789528b71ced6780fd4e59e711ac654505a3de4b0d4bad4e004cde13f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7d8c874789528b71ced6780fd4e59e711ac654505a3de4b0d4bad4e004cde13f","first_computed_at":"2026-07-05T05:06:38.049997Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:06:38.049997Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rCtk3n8bFllY/IsukJxhX2DnTqq8ZnEz1zE1269GpzKocDE1hRteUWptaisbUJaK8DqXYOkW4XKv/lZo2SrJBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:06:38.050417Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.07506","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:168ea6b9610866c7f1f385e2923cede7c45b688c4b3a71488173aec873406bd4","sha256:b499148e87a07998171bb77f5b68f57ebd3f1e9b75d5bbad9741399b762b8fba"],"state_sha256":"9661daa131271f7a0dd879117ddbdddda361a13046494a3fc92b18167c8f8fb5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VeWj88A5mN4Pt1vHAAQOuzQnmIVxGSHLUM4W7vgVfmxAilywYDZJUMomScKLjQW3lGbk5lVsD/7tAVYD+4DMBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T18:49:35.041982Z","bundle_sha256":"e449b8f2377e86d48cb7f61ebdf53e20fb8a1c42ab954da0a95ea6f49bf05f5a"}}