{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:Q67JM64Y475SV5AQXERFNGWPRO","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":"83506c1192dd5fbede2b2809ff505c398080e3aea2ceeb7c88343d2aa210aa1d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T09:24:32Z","title_canon_sha256":"e077e084be7cdd5d2740cd284191bb9c538c7a98b7795783ce9380cb19f1372d"},"schema_version":"1.0","source":{"id":"2510.01830","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.01830","created_at":"2026-07-14T01:20:46Z"},{"alias_kind":"arxiv_version","alias_value":"2510.01830v2","created_at":"2026-07-14T01:20:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.01830","created_at":"2026-07-14T01:20:46Z"},{"alias_kind":"pith_short_12","alias_value":"Q67JM64Y475S","created_at":"2026-07-14T01:20:46Z"},{"alias_kind":"pith_short_16","alias_value":"Q67JM64Y475SV5AQ","created_at":"2026-07-14T01:20:46Z"},{"alias_kind":"pith_short_8","alias_value":"Q67JM64Y","created_at":"2026-07-14T01:20:46Z"}],"graph_snapshots":[{"event_id":"sha256:5e7bb27cd655b142fef25f23a5efbb807c2c2dd24918bea737f65da59c807029","target":"graph","created_at":"2026-07-14T01:20:46Z","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/2510.01830/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Object-Goal Navigation (ObjectNav) is a key capability for deploying mobile robots in everyday environments such as homes, schools, and workplaces. In this task, an agent must locate an instance of a target object category in previously unseen environments using only onboard perception, requiring the integration of semantic understanding, spatial reasoning, and long-horizon planning. Reinforcement learning (RL) has become a dominant paradigm for ObjectNav, yet modern systems involve numerous design choices across perception modules, policy architectures, and inference-time strategies. The rela","authors_text":"Boyang Sun, Davide Scaramuzza, Dhruv Shah, Fan Yang, Hongze Wang, Jiaxu Xing, Marco Hutter, Marc Pollefeys","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T09:24:32Z","title":"What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.01830","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:ea76070d2508fe7c0daacb66b89b6e8fa6d5a7ff55817147e54baec6ac8f78ed","target":"record","created_at":"2026-07-14T01:20:46Z","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":"83506c1192dd5fbede2b2809ff505c398080e3aea2ceeb7c88343d2aa210aa1d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T09:24:32Z","title_canon_sha256":"e077e084be7cdd5d2740cd284191bb9c538c7a98b7795783ce9380cb19f1372d"},"schema_version":"1.0","source":{"id":"2510.01830","kind":"arxiv","version":2}},"canonical_sha256":"87be967b98e7fb2af410b922569acf8ba99cb7e4e8e5b99c4c78a81450cbcd87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"87be967b98e7fb2af410b922569acf8ba99cb7e4e8e5b99c4c78a81450cbcd87","first_computed_at":"2026-07-14T01:20:46.572914Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-14T01:20:46.572914Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KJRypyzuDgPFdstIW0GPUIeX4yg76lA5ooOyay5bLBB0H5BzG94Z9OsFeX89Ss//8EZklZYjyWuu5nt0DR4hCg==","signature_status":"signed_v1","signed_at":"2026-07-14T01:20:46.573877Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.01830","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea76070d2508fe7c0daacb66b89b6e8fa6d5a7ff55817147e54baec6ac8f78ed","sha256:5e7bb27cd655b142fef25f23a5efbb807c2c2dd24918bea737f65da59c807029"],"state_sha256":"2f5aed46525118d877fa7b3450c3f726a8bf5939ff743d5012d5d978c3e641ad"}