{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:SKVEPFBUTUH2SUKFEYVIHYDFTL","short_pith_number":"pith:SKVEPFBU","canonical_record":{"source":{"id":"2106.03665","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-07T14:42:51Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"cc17a6a4291abf588ac38b6b34895ddc3dd533d8368793fee2fbce56b5043533","abstract_canon_sha256":"00c637264fc1434c09b35aca77c299ba09cbec9ff24ff45c3b5edb501d6dbcbb"},"schema_version":"1.0"},"canonical_sha256":"92aa4794349d0fa95145262a83e0659afa18a6b847edb42046774bcdc696a182","source":{"kind":"arxiv","id":"2106.03665","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.03665","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"arxiv_version","alias_value":"2106.03665v1","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.03665","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_12","alias_value":"SKVEPFBUTUH2","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_16","alias_value":"SKVEPFBUTUH2SUKF","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_8","alias_value":"SKVEPFBU","created_at":"2026-07-05T02:46:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:SKVEPFBUTUH2SUKFEYVIHYDFTL","target":"record","payload":{"canonical_record":{"source":{"id":"2106.03665","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-07T14:42:51Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"cc17a6a4291abf588ac38b6b34895ddc3dd533d8368793fee2fbce56b5043533","abstract_canon_sha256":"00c637264fc1434c09b35aca77c299ba09cbec9ff24ff45c3b5edb501d6dbcbb"},"schema_version":"1.0"},"canonical_sha256":"92aa4794349d0fa95145262a83e0659afa18a6b847edb42046774bcdc696a182","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:46:52.055171Z","signature_b64":"K4CRhC0Nhe5bJBeb624MPEMr16i/tIEcVhl7RjIZhjk+5p8kCqb2K0bRtoB4+bGR+1PRmr6i45aAYSuN9jLwCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"92aa4794349d0fa95145262a83e0659afa18a6b847edb42046774bcdc696a182","last_reissued_at":"2026-07-05T02:46:52.054803Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:46:52.054803Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2106.03665","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":"2026-07-05T02:46:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"veNmrh8ILOj2Re3t83mJCJPwIXL8+CjSaju4bH5GLj3MBTrl91O1JbJ4xEivWB9KulSb3mXNDwVtk0yYwU/oAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:27:51.408523Z"},"content_sha256":"b1c875e1c02de3c2a30ad58dd80e1f72e002420a8f9ff2a8f5da8071d72499ea","schema_version":"1.0","event_id":"sha256:b1c875e1c02de3c2a30ad58dd80e1f72e002420a8f9ff2a8f5da8071d72499ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:SKVEPFBUTUH2SUKFEYVIHYDFTL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hierarchical Robot Navigation in Novel Environments using Rough 2-D Maps","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Chengguang Xu, Christopher Amato, Lawson L.S. Wong","submitted_at":"2021-06-07T14:42:51Z","abstract_excerpt":"In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However, these methods either require precise high-level information to be given in advance or need to construct such guidance from extensive interaction with the environment. In this work, we propose an approach that leverages a rough 2-D map of the environment to navigate in novel environments without requiring further learning. In particular, we introduce a dynam"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.03665","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/2106.03665/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":"2026-07-05T02:46:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e2CpZg7udwQpmdAv08dnlRPoF5R5xvEN1N9HlVtEvtag3xl5a78xeFkWbzwG1Cnqw/9xr92uGxEe0XX8AqIZBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:27:51.409452Z"},"content_sha256":"07036592569d1073b8ecd9e09723d5664e65fbae90ceb7623f3166d8169fd514","schema_version":"1.0","event_id":"sha256:07036592569d1073b8ecd9e09723d5664e65fbae90ceb7623f3166d8169fd514"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/bundle.json","state_url":"https://pith.science/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/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":"2026-08-16T14:27:51Z","links":{"resolver":"https://pith.science/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL","bundle":"https://pith.science/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/bundle.json","state":"https://pith.science/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SKVEPFBUTUH2SUKFEYVIHYDFTL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:SKVEPFBUTUH2SUKFEYVIHYDFTL","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":"00c637264fc1434c09b35aca77c299ba09cbec9ff24ff45c3b5edb501d6dbcbb","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-07T14:42:51Z","title_canon_sha256":"cc17a6a4291abf588ac38b6b34895ddc3dd533d8368793fee2fbce56b5043533"},"schema_version":"1.0","source":{"id":"2106.03665","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.03665","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"arxiv_version","alias_value":"2106.03665v1","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.03665","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_12","alias_value":"SKVEPFBUTUH2","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_16","alias_value":"SKVEPFBUTUH2SUKF","created_at":"2026-07-05T02:46:52Z"},{"alias_kind":"pith_short_8","alias_value":"SKVEPFBU","created_at":"2026-07-05T02:46:52Z"}],"graph_snapshots":[{"event_id":"sha256:07036592569d1073b8ecd9e09723d5664e65fbae90ceb7623f3166d8169fd514","target":"graph","created_at":"2026-07-05T02:46:52Z","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/2106.03665/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However, these methods either require precise high-level information to be given in advance or need to construct such guidance from extensive interaction with the environment. In this work, we propose an approach that leverages a rough 2-D map of the environment to navigate in novel environments without requiring further learning. In particular, we introduce a dynam","authors_text":"Chengguang Xu, Christopher Amato, Lawson L.S. Wong","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-07T14:42:51Z","title":"Hierarchical Robot Navigation in Novel Environments using Rough 2-D Maps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.03665","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:b1c875e1c02de3c2a30ad58dd80e1f72e002420a8f9ff2a8f5da8071d72499ea","target":"record","created_at":"2026-07-05T02:46:52Z","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":"00c637264fc1434c09b35aca77c299ba09cbec9ff24ff45c3b5edb501d6dbcbb","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-07T14:42:51Z","title_canon_sha256":"cc17a6a4291abf588ac38b6b34895ddc3dd533d8368793fee2fbce56b5043533"},"schema_version":"1.0","source":{"id":"2106.03665","kind":"arxiv","version":1}},"canonical_sha256":"92aa4794349d0fa95145262a83e0659afa18a6b847edb42046774bcdc696a182","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"92aa4794349d0fa95145262a83e0659afa18a6b847edb42046774bcdc696a182","first_computed_at":"2026-07-05T02:46:52.054803Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:46:52.054803Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"K4CRhC0Nhe5bJBeb624MPEMr16i/tIEcVhl7RjIZhjk+5p8kCqb2K0bRtoB4+bGR+1PRmr6i45aAYSuN9jLwCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:46:52.055171Z","signed_message":"canonical_sha256_bytes"},"source_id":"2106.03665","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b1c875e1c02de3c2a30ad58dd80e1f72e002420a8f9ff2a8f5da8071d72499ea","sha256:07036592569d1073b8ecd9e09723d5664e65fbae90ceb7623f3166d8169fd514"],"state_sha256":"ed9ce54d9f1c967ff347718e404af0843df454f2ace58819096ee7f5321147c8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mRpRNHU7ec6Z0zory/ouKTOlISE6MeN32/7l8Gr2JCXCq7rEngYq6M5N6Pk8wnoRycQenov3CUD40SVgZfGzBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T14:27:51.414199Z","bundle_sha256":"fe860169481f8d98e734152ff3d063ba81c04c23431b87b659f73e34209aa0e0"}}