{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SN7RWZRECCV57GM2FORTU3DAHS","short_pith_number":"pith:SN7RWZRE","canonical_record":{"source":{"id":"2506.04505","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T23:09:45Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"be989b9e1f6e29a41d68904ec7a5ba65f4f6102e89648647bbc93f41eacbf288","abstract_canon_sha256":"a9528e637a28c953f1ee02898b994da24f811cd878881d832ab5aaf352ebf7d6"},"schema_version":"1.0"},"canonical_sha256":"937f1b662410abdf999a2ba33a6c603c9b97ad40a96c16ada72b027fa3a8d359","source":{"kind":"arxiv","id":"2506.04505","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.04505","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"arxiv_version","alias_value":"2506.04505v1","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.04505","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_12","alias_value":"SN7RWZRECCV5","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_16","alias_value":"SN7RWZRECCV57GM2","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_8","alias_value":"SN7RWZRE","created_at":"2026-07-05T11:16:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SN7RWZRECCV57GM2FORTU3DAHS","target":"record","payload":{"canonical_record":{"source":{"id":"2506.04505","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T23:09:45Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"be989b9e1f6e29a41d68904ec7a5ba65f4f6102e89648647bbc93f41eacbf288","abstract_canon_sha256":"a9528e637a28c953f1ee02898b994da24f811cd878881d832ab5aaf352ebf7d6"},"schema_version":"1.0"},"canonical_sha256":"937f1b662410abdf999a2ba33a6c603c9b97ad40a96c16ada72b027fa3a8d359","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:16:15.618420Z","signature_b64":"ovfkcZrQihz6THqgwxsGOdkFHzaB9K3b8IQxNqLBT73zidfv1E5HVOqS44y81ShnMaP4rVzUlKNAVs5ymuZOAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"937f1b662410abdf999a2ba33a6c603c9b97ad40a96c16ada72b027fa3a8d359","last_reissued_at":"2026-07-05T11:16:15.617935Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:16:15.617935Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.04505","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":"2026-07-05T11:16:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P1ATDaLjwpp9VCUA0RikogpOEXkhkOm9tdheoxGRliK+w6sQrDbatVuVgsGXoDH6hRURQf+6VnCGwmpHprhCBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T01:21:03.016199Z"},"content_sha256":"6cabbf0bdb7a3775fc5a1ffc92a4185edc6b0bea3d40922b7313c7ca01aa9d66","schema_version":"1.0","event_id":"sha256:6cabbf0bdb7a3775fc5a1ffc92a4185edc6b0bea3d40922b7313c7ca01aa9d66"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SN7RWZRECCV57GM2FORTU3DAHS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SGN-CIRL: Scene Graph-based Navigation with Curriculum, Imitation, and Reinforcement Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Aleksandr Panov, Dmitry Makarov, Dmitry Yudin, Huzhenyu Zhang, Nikita Oskolkov","submitted_at":"2025-06-04T23:09:45Z","abstract_excerpt":"The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named SGN-CIRL (3D Scene Graph-Based Reinforcement Learning Navigation) for mapless reinforcement learning-based robot navigation with learnable representation of open-vocabulary 3D scene graph. To accelerate and stabilize the training of reinforcement learning-based algorithms, the framework also employs imitation learning and curriculum learning. The first one e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.04505","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/2506.04505/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":"2026-07-05T11:16:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tOqECDXIRzTJ39yjqGuxlSRvtsPHUrneiTKBz9tNClSgS1l0OY/2dy2P8jaYVt3TLO9IlzDAiXjHLLBurduHCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T01:21:03.017131Z"},"content_sha256":"2a499c356877d69f596c6cd6e4322671054e168aa91ea50cf2ec20737f695642","schema_version":"1.0","event_id":"sha256:2a499c356877d69f596c6cd6e4322671054e168aa91ea50cf2ec20737f695642"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SN7RWZRECCV57GM2FORTU3DAHS/bundle.json","state_url":"https://pith.science/pith/SN7RWZRECCV57GM2FORTU3DAHS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SN7RWZRECCV57GM2FORTU3DAHS/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":"2026-08-08T01:21:03Z","links":{"resolver":"https://pith.science/pith/SN7RWZRECCV57GM2FORTU3DAHS","bundle":"https://pith.science/pith/SN7RWZRECCV57GM2FORTU3DAHS/bundle.json","state":"https://pith.science/pith/SN7RWZRECCV57GM2FORTU3DAHS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SN7RWZRECCV57GM2FORTU3DAHS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SN7RWZRECCV57GM2FORTU3DAHS","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":"a9528e637a28c953f1ee02898b994da24f811cd878881d832ab5aaf352ebf7d6","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T23:09:45Z","title_canon_sha256":"be989b9e1f6e29a41d68904ec7a5ba65f4f6102e89648647bbc93f41eacbf288"},"schema_version":"1.0","source":{"id":"2506.04505","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.04505","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"arxiv_version","alias_value":"2506.04505v1","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.04505","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_12","alias_value":"SN7RWZRECCV5","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_16","alias_value":"SN7RWZRECCV57GM2","created_at":"2026-07-05T11:16:15Z"},{"alias_kind":"pith_short_8","alias_value":"SN7RWZRE","created_at":"2026-07-05T11:16:15Z"}],"graph_snapshots":[{"event_id":"sha256:2a499c356877d69f596c6cd6e4322671054e168aa91ea50cf2ec20737f695642","target":"graph","created_at":"2026-07-05T11:16:15Z","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/2506.04505/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named SGN-CIRL (3D Scene Graph-Based Reinforcement Learning Navigation) for mapless reinforcement learning-based robot navigation with learnable representation of open-vocabulary 3D scene graph. To accelerate and stabilize the training of reinforcement learning-based algorithms, the framework also employs imitation learning and curriculum learning. The first one e","authors_text":"Aleksandr Panov, Dmitry Makarov, Dmitry Yudin, Huzhenyu Zhang, Nikita Oskolkov","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T23:09:45Z","title":"SGN-CIRL: Scene Graph-based Navigation with Curriculum, Imitation, and Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.04505","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":"sha256:6cabbf0bdb7a3775fc5a1ffc92a4185edc6b0bea3d40922b7313c7ca01aa9d66","target":"record","created_at":"2026-07-05T11:16:15Z","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":"a9528e637a28c953f1ee02898b994da24f811cd878881d832ab5aaf352ebf7d6","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T23:09:45Z","title_canon_sha256":"be989b9e1f6e29a41d68904ec7a5ba65f4f6102e89648647bbc93f41eacbf288"},"schema_version":"1.0","source":{"id":"2506.04505","kind":"arxiv","version":1}},"canonical_sha256":"937f1b662410abdf999a2ba33a6c603c9b97ad40a96c16ada72b027fa3a8d359","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"937f1b662410abdf999a2ba33a6c603c9b97ad40a96c16ada72b027fa3a8d359","first_computed_at":"2026-07-05T11:16:15.617935Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:16:15.617935Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ovfkcZrQihz6THqgwxsGOdkFHzaB9K3b8IQxNqLBT73zidfv1E5HVOqS44y81ShnMaP4rVzUlKNAVs5ymuZOAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:16:15.618420Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.04505","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6cabbf0bdb7a3775fc5a1ffc92a4185edc6b0bea3d40922b7313c7ca01aa9d66","sha256:2a499c356877d69f596c6cd6e4322671054e168aa91ea50cf2ec20737f695642"],"state_sha256":"6432e552de01172fd66726d45607ef808079d64d111a2f092eafa3952745cbf5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G6A6wtuU7ID6AjZ7TiFtUCKTtw4U/zlBq1tGHqX10B8zMGdY4E4AE48VXMpqcU28xIvGFz00Sm6+zHysyWg5Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T01:21:03.022255Z","bundle_sha256":"1f51e29b4880ac3d407a044ec13262dc64afabd8c51dca5e486660343ced109d"}}