{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:S2WAFYNZFMRGEMX6QCZIBQGQ4R","short_pith_number":"pith:S2WAFYNZ","canonical_record":{"source":{"id":"1807.07870","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-19T16:29:24Z","cross_cats_sorted":[],"title_canon_sha256":"eea1addbb4652c521a96cbc3ea43aab86a6ebb241ead5be0efc859d34bd03090","abstract_canon_sha256":"9b18ae18121e6332c97e2152713ce98839fbe7a6f57532aa18c17d71eca6752c"},"schema_version":"1.0"},"canonical_sha256":"96ac02e1b92b226232fe80b280c0d0e4747a5c9ab2a23710a355d789a9cab2f3","source":{"kind":"arxiv","id":"1807.07870","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.07870","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"arxiv_version","alias_value":"1807.07870v2","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.07870","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"pith_short_12","alias_value":"S2WAFYNZFMRG","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"S2WAFYNZFMRGEMX6","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"S2WAFYNZ","created_at":"2026-05-18T12:32:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:S2WAFYNZFMRGEMX6QCZIBQGQ4R","target":"record","payload":{"canonical_record":{"source":{"id":"1807.07870","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-19T16:29:24Z","cross_cats_sorted":[],"title_canon_sha256":"eea1addbb4652c521a96cbc3ea43aab86a6ebb241ead5be0efc859d34bd03090","abstract_canon_sha256":"9b18ae18121e6332c97e2152713ce98839fbe7a6f57532aa18c17d71eca6752c"},"schema_version":"1.0"},"canonical_sha256":"96ac02e1b92b226232fe80b280c0d0e4747a5c9ab2a23710a355d789a9cab2f3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:09:51.901825Z","signature_b64":"PNPXjfOge6yNVZ1yPT3+ldLz5LjYbDQkbBQFLvjC12dPEBs+qieOrBDEmX7mYhox65NIkghp3sIO4OAOlLrDAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96ac02e1b92b226232fe80b280c0d0e4747a5c9ab2a23710a355d789a9cab2f3","last_reissued_at":"2026-05-18T00:09:51.901130Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:09:51.901130Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.07870","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:09:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"paA8qorfoaZdiYOGhmyvjHQJF8TJUSZ/jXG9AiwEo7BRwNvX60ISoYnSEHAw+iwteNUoNN7Zg3Q9fSiYzofKAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T05:29:54.762821Z"},"content_sha256":"a0d1e430e30a435f74efd42b5c084e00ac42c49cedcb723f76da60034dd2d997","schema_version":"1.0","event_id":"sha256:a0d1e430e30a435f74efd42b5c084e00ac42c49cedcb723f76da60034dd2d997"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:S2WAFYNZFMRGEMX6QCZIBQGQ4R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CrowdMove: Autonomous Mapless Navigation in Crowded Scenarios","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Jia Pan, Ruigang Yang, Tingxiang Fan, Xinjing Cheng","submitted_at":"2018-07-19T16:29:24Z","abstract_excerpt":"Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust policy gradient algorithm. Our method enables different types of mobile platforms to navigate safely in complex and highly dynamic environments, such as pedestrian crowds. To demonstrate the superiority of our method, we test our methods with four kinds of mobile platforms in four scenarios. Videos are available at https://sites.google.com/view/crowdmove."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.07870","kind":"arxiv","version":2},"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":"2026-05-18T00:09:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eG7xdP5Y5TbZ8sG27XxRV1tOVeURmBPiMZWeK3UQAjIWQknyVaebxopTiTWVp+EwkYDbYAKhiwJgnFr8L2psCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T05:29:54.763240Z"},"content_sha256":"81e7d560acf710c062106f04f80039b7549adf88cc794b5f181d279304e836f9","schema_version":"1.0","event_id":"sha256:81e7d560acf710c062106f04f80039b7549adf88cc794b5f181d279304e836f9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/bundle.json","state_url":"https://pith.science/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/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":"2026-05-25T05:29:54Z","links":{"resolver":"https://pith.science/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R","bundle":"https://pith.science/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/bundle.json","state":"https://pith.science/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S2WAFYNZFMRGEMX6QCZIBQGQ4R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:S2WAFYNZFMRGEMX6QCZIBQGQ4R","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":"9b18ae18121e6332c97e2152713ce98839fbe7a6f57532aa18c17d71eca6752c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-19T16:29:24Z","title_canon_sha256":"eea1addbb4652c521a96cbc3ea43aab86a6ebb241ead5be0efc859d34bd03090"},"schema_version":"1.0","source":{"id":"1807.07870","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.07870","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"arxiv_version","alias_value":"1807.07870v2","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.07870","created_at":"2026-05-18T00:09:51Z"},{"alias_kind":"pith_short_12","alias_value":"S2WAFYNZFMRG","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"S2WAFYNZFMRGEMX6","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"S2WAFYNZ","created_at":"2026-05-18T12:32:50Z"}],"graph_snapshots":[{"event_id":"sha256:81e7d560acf710c062106f04f80039b7549adf88cc794b5f181d279304e836f9","target":"graph","created_at":"2026-05-18T00:09:51Z","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":"Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust policy gradient algorithm. Our method enables different types of mobile platforms to navigate safely in complex and highly dynamic environments, such as pedestrian crowds. To demonstrate the superiority of our method, we test our methods with four kinds of mobile platforms in four scenarios. Videos are available at https://sites.google.com/view/crowdmove.","authors_text":"Dinesh Manocha, Jia Pan, Ruigang Yang, Tingxiang Fan, Xinjing Cheng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-19T16:29:24Z","title":"CrowdMove: Autonomous Mapless Navigation in Crowded Scenarios"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.07870","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:a0d1e430e30a435f74efd42b5c084e00ac42c49cedcb723f76da60034dd2d997","target":"record","created_at":"2026-05-18T00:09:51Z","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":"9b18ae18121e6332c97e2152713ce98839fbe7a6f57532aa18c17d71eca6752c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-19T16:29:24Z","title_canon_sha256":"eea1addbb4652c521a96cbc3ea43aab86a6ebb241ead5be0efc859d34bd03090"},"schema_version":"1.0","source":{"id":"1807.07870","kind":"arxiv","version":2}},"canonical_sha256":"96ac02e1b92b226232fe80b280c0d0e4747a5c9ab2a23710a355d789a9cab2f3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"96ac02e1b92b226232fe80b280c0d0e4747a5c9ab2a23710a355d789a9cab2f3","first_computed_at":"2026-05-18T00:09:51.901130Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:09:51.901130Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PNPXjfOge6yNVZ1yPT3+ldLz5LjYbDQkbBQFLvjC12dPEBs+qieOrBDEmX7mYhox65NIkghp3sIO4OAOlLrDAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:09:51.901825Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.07870","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a0d1e430e30a435f74efd42b5c084e00ac42c49cedcb723f76da60034dd2d997","sha256:81e7d560acf710c062106f04f80039b7549adf88cc794b5f181d279304e836f9"],"state_sha256":"b14136e973806de62ae170493fad2c0034ad604ae5668e7f2f9871faace384a7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3ZBEKDJtQntJ9WRQPpiWsBQaqUAgMYjLpSWmFffN1tJNAk248eJ2R/FCAXzFDpxhNcwZ38ghmv3I06QdKPp6AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T05:29:54.766817Z","bundle_sha256":"9c8e3f409a3c0f2d3d817db1bb02edc8f6b3213c9bb259b60a21f87fbdbf7a50"}}