{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:TI7QPNXVIT7XWYXYY6YPVBQTVW","short_pith_number":"pith:TI7QPNXV","canonical_record":{"source":{"id":"2303.14880","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-27T02:30:26Z","cross_cats_sorted":[],"title_canon_sha256":"56a5c8e07dbb9a93c4055eef801cfa2ca66e666bc6d652bcead42bba1c8eda78","abstract_canon_sha256":"0c4e4b0afaf4eb3fcf2dd3afde6dd9d913337c0f5faaaa54d612755bda8f7ab8"},"schema_version":"1.0"},"canonical_sha256":"9a3f07b6f544ff7b62f8c7b0fa8613ad947b66f23e132c19440c09dd5277f6c3","source":{"kind":"arxiv","id":"2303.14880","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.14880","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"arxiv_version","alias_value":"2303.14880v2","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.14880","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_12","alias_value":"TI7QPNXVIT7X","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_16","alias_value":"TI7QPNXVIT7XWYXY","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_8","alias_value":"TI7QPNXV","created_at":"2026-07-05T06:39:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:TI7QPNXVIT7XWYXYY6YPVBQTVW","target":"record","payload":{"canonical_record":{"source":{"id":"2303.14880","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-27T02:30:26Z","cross_cats_sorted":[],"title_canon_sha256":"56a5c8e07dbb9a93c4055eef801cfa2ca66e666bc6d652bcead42bba1c8eda78","abstract_canon_sha256":"0c4e4b0afaf4eb3fcf2dd3afde6dd9d913337c0f5faaaa54d612755bda8f7ab8"},"schema_version":"1.0"},"canonical_sha256":"9a3f07b6f544ff7b62f8c7b0fa8613ad947b66f23e132c19440c09dd5277f6c3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:39:33.570235Z","signature_b64":"wG8RQWwEd/jTixHEnEdHgL2Z9co2MqoTqvzlKr9AASgxOPIihZp1iiAvNLx1Hl0OEObuV8oogbmC8gbWmcbPCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9a3f07b6f544ff7b62f8c7b0fa8613ad947b66f23e132c19440c09dd5277f6c3","last_reissued_at":"2026-07-05T06:39:33.569757Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:39:33.569757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.14880","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":"2026-07-05T06:39:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RugpA4gwcCla+otZEPKZbAg2ZErFTEBF0uKhDrIbMwfc8GcfzORmcGYoDBOKFExF8e4VhsDABugMFc8gohkqAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T21:42:41.264268Z"},"content_sha256":"d5014de958f8bb9ed7ed39048e0a2f27effef10a13d84367d822e43aa144870b","schema_version":"1.0","event_id":"sha256:d5014de958f8bb9ed7ed39048e0a2f27effef10a13d84367d822e43aa144870b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:TI7QPNXVIT7XWYXYY6YPVBQTVW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amirreza Payandeh, Aniket Datar, Duc M. Nguyen, Mohammad Nazeri, Xuesu Xiao","submitted_at":"2023-03-27T02:30:26Z","abstract_excerpt":"Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten social norms on a daily basis; conversely, robots become clumsy in those daily social scenarios, getting stuck in dense crowds, surprising nearby pedestrians, or even causing collisions. While recent research on robot learning has shown promises in data-driven social robot navigation, good-quality training data is still difficult to acquire through either trial"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.14880","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2303.14880/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":"2026-07-05T06:39:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n7tOWpuRIxKRdoZpsIoHTM5i3JtChKrkLDCJrZr2LMouAmZ2jM/5z11eg3zHM/kZu5yb93/6jWkHFo7NVluKBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T21:42:41.265217Z"},"content_sha256":"3c29257b748318aae520c419c9549ebfa242428455caab4754d3cff18f7c0b12","schema_version":"1.0","event_id":"sha256:3c29257b748318aae520c419c9549ebfa242428455caab4754d3cff18f7c0b12"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/bundle.json","state_url":"https://pith.science/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/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":"2026-08-03T21:42:41Z","links":{"resolver":"https://pith.science/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW","bundle":"https://pith.science/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/bundle.json","state":"https://pith.science/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TI7QPNXVIT7XWYXYY6YPVBQTVW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:TI7QPNXVIT7XWYXYY6YPVBQTVW","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":"0c4e4b0afaf4eb3fcf2dd3afde6dd9d913337c0f5faaaa54d612755bda8f7ab8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-27T02:30:26Z","title_canon_sha256":"56a5c8e07dbb9a93c4055eef801cfa2ca66e666bc6d652bcead42bba1c8eda78"},"schema_version":"1.0","source":{"id":"2303.14880","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.14880","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"arxiv_version","alias_value":"2303.14880v2","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.14880","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_12","alias_value":"TI7QPNXVIT7X","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_16","alias_value":"TI7QPNXVIT7XWYXY","created_at":"2026-07-05T06:39:33Z"},{"alias_kind":"pith_short_8","alias_value":"TI7QPNXV","created_at":"2026-07-05T06:39:33Z"}],"graph_snapshots":[{"event_id":"sha256:3c29257b748318aae520c419c9549ebfa242428455caab4754d3cff18f7c0b12","target":"graph","created_at":"2026-07-05T06:39:33Z","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/2303.14880/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten social norms on a daily basis; conversely, robots become clumsy in those daily social scenarios, getting stuck in dense crowds, surprising nearby pedestrians, or even causing collisions. While recent research on robot learning has shown promises in data-driven social robot navigation, good-quality training data is still difficult to acquire through either trial","authors_text":"Amirreza Payandeh, Aniket Datar, Duc M. Nguyen, Mohammad Nazeri, Xuesu Xiao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-27T02:30:26Z","title":"Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.14880","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:d5014de958f8bb9ed7ed39048e0a2f27effef10a13d84367d822e43aa144870b","target":"record","created_at":"2026-07-05T06:39:33Z","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":"0c4e4b0afaf4eb3fcf2dd3afde6dd9d913337c0f5faaaa54d612755bda8f7ab8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-27T02:30:26Z","title_canon_sha256":"56a5c8e07dbb9a93c4055eef801cfa2ca66e666bc6d652bcead42bba1c8eda78"},"schema_version":"1.0","source":{"id":"2303.14880","kind":"arxiv","version":2}},"canonical_sha256":"9a3f07b6f544ff7b62f8c7b0fa8613ad947b66f23e132c19440c09dd5277f6c3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9a3f07b6f544ff7b62f8c7b0fa8613ad947b66f23e132c19440c09dd5277f6c3","first_computed_at":"2026-07-05T06:39:33.569757Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:39:33.569757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wG8RQWwEd/jTixHEnEdHgL2Z9co2MqoTqvzlKr9AASgxOPIihZp1iiAvNLx1Hl0OEObuV8oogbmC8gbWmcbPCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:39:33.570235Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.14880","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d5014de958f8bb9ed7ed39048e0a2f27effef10a13d84367d822e43aa144870b","sha256:3c29257b748318aae520c419c9549ebfa242428455caab4754d3cff18f7c0b12"],"state_sha256":"971e36de142ccca1e61bdbebf9e21c97cec41ef5bc6c8c39c34b7865b9270de8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/3pCf6Fd9Fl7AADEGAvebdAVuQHNYM3qql9eEeRKgUy/s5wOB2XaKe1IFWWPPkWo8hPTYK44YqBgtjEsQV3VDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T21:42:41.272267Z","bundle_sha256":"f7831d1bf279e9383f6ff9698a22835e48a4688253014cc1f520250d1aa89675"}}