{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:TNQDVMIJTGPSUG6J77TNF3AAUN","short_pith_number":"pith:TNQDVMIJ","canonical_record":{"source":{"id":"2409.20445","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T16:03:44Z","cross_cats_sorted":[],"title_canon_sha256":"4e5d0cef75089f335e46538c99f00ba0c0897d4d7fec91466713228d29597aff","abstract_canon_sha256":"f923010b46f2ff7bc61374909561c894e21878776bfc8f5af946b138339e20cd"},"schema_version":"1.0"},"canonical_sha256":"9b603ab109999f2a1bc9ffe6d2ec00a3503f5b9167f14620b7b451d4d0636266","source":{"kind":"arxiv","id":"2409.20445","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.20445","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"arxiv_version","alias_value":"2409.20445v1","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.20445","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_12","alias_value":"TNQDVMIJTGPS","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_16","alias_value":"TNQDVMIJTGPSUG6J","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_8","alias_value":"TNQDVMIJ","created_at":"2026-07-05T09:13:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:TNQDVMIJTGPSUG6J77TNF3AAUN","target":"record","payload":{"canonical_record":{"source":{"id":"2409.20445","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T16:03:44Z","cross_cats_sorted":[],"title_canon_sha256":"4e5d0cef75089f335e46538c99f00ba0c0897d4d7fec91466713228d29597aff","abstract_canon_sha256":"f923010b46f2ff7bc61374909561c894e21878776bfc8f5af946b138339e20cd"},"schema_version":"1.0"},"canonical_sha256":"9b603ab109999f2a1bc9ffe6d2ec00a3503f5b9167f14620b7b451d4d0636266","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:13:43.648826Z","signature_b64":"ltATtWxU68O5WDJGMtMkje0hzDZA+UsW1yE8ziKGhAri60wAsRqnW/EBp0+vkUSR4iA5DdWItxYpB5KodxKrDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9b603ab109999f2a1bc9ffe6d2ec00a3503f5b9167f14620b7b451d4d0636266","last_reissued_at":"2026-07-05T09:13:43.648369Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:13:43.648369Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.20445","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":"2026-07-05T09:13:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/jpSfkP4UGJqDHiRFzSz38zFEzxHXEz9FI13pkw6YmTBO/CwyZgIfmmJhA/BRInSpqm+/eY5057aiI7fxz4CAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T23:31:52.267794Z"},"content_sha256":"7f80fe94baf830dcc5965121bb45f25b470ac94d8ddc3bff88c503b535d9e7d3","schema_version":"1.0","event_id":"sha256:7f80fe94baf830dcc5965121bb45f25b470ac94d8ddc3bff88c503b535d9e7d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:TNQDVMIJTGPSUG6J77TNF3AAUN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Mohamed Khalid M Jaffar, Ruiqi Xian, Tianrui Guan, Vignesh Rajagopal","submitted_at":"2024-09-30T16:03:44Z","abstract_excerpt":"We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and integrates them with physical grounding that is used to assess intrinsic terrain properties such as deformability and slipperiness. We use proprioceptive-based sensing, which provides direct measurements of these physical properties, and enhances the overall semantic understanding of the terrains. Our formulation uses in-context learning to ground the VLM's semantic understanding"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.20445","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/2409.20445/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":"2026-07-05T09:13:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rblT8LmdRRlghN58vnEbETfxp1HNTOARNxEh/wclSvgzxOovFl8cyz4n6drKKe74f1rIaoBR1AFyr5zA5m49AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T23:31:52.268817Z"},"content_sha256":"227e2e93ab9b8ad852931aa801b4abeee2611c1a7a7ae98ff96e8d181092148d","schema_version":"1.0","event_id":"sha256:227e2e93ab9b8ad852931aa801b4abeee2611c1a7a7ae98ff96e8d181092148d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/bundle.json","state_url":"https://pith.science/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/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":"2026-08-05T23:31:52Z","links":{"resolver":"https://pith.science/pith/TNQDVMIJTGPSUG6J77TNF3AAUN","bundle":"https://pith.science/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/bundle.json","state":"https://pith.science/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TNQDVMIJTGPSUG6J77TNF3AAUN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:TNQDVMIJTGPSUG6J77TNF3AAUN","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":"f923010b46f2ff7bc61374909561c894e21878776bfc8f5af946b138339e20cd","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T16:03:44Z","title_canon_sha256":"4e5d0cef75089f335e46538c99f00ba0c0897d4d7fec91466713228d29597aff"},"schema_version":"1.0","source":{"id":"2409.20445","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.20445","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"arxiv_version","alias_value":"2409.20445v1","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.20445","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_12","alias_value":"TNQDVMIJTGPS","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_16","alias_value":"TNQDVMIJTGPSUG6J","created_at":"2026-07-05T09:13:43Z"},{"alias_kind":"pith_short_8","alias_value":"TNQDVMIJ","created_at":"2026-07-05T09:13:43Z"}],"graph_snapshots":[{"event_id":"sha256:227e2e93ab9b8ad852931aa801b4abeee2611c1a7a7ae98ff96e8d181092148d","target":"graph","created_at":"2026-07-05T09:13:43Z","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/2409.20445/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and integrates them with physical grounding that is used to assess intrinsic terrain properties such as deformability and slipperiness. We use proprioceptive-based sensing, which provides direct measurements of these physical properties, and enhances the overall semantic understanding of the terrains. Our formulation uses in-context learning to ground the VLM's semantic understanding","authors_text":"Dinesh Manocha, Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Mohamed Khalid M Jaffar, Ruiqi Xian, Tianrui Guan, Vignesh Rajagopal","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T16:03:44Z","title":"Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.20445","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":"sha256:7f80fe94baf830dcc5965121bb45f25b470ac94d8ddc3bff88c503b535d9e7d3","target":"record","created_at":"2026-07-05T09:13:43Z","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":"f923010b46f2ff7bc61374909561c894e21878776bfc8f5af946b138339e20cd","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T16:03:44Z","title_canon_sha256":"4e5d0cef75089f335e46538c99f00ba0c0897d4d7fec91466713228d29597aff"},"schema_version":"1.0","source":{"id":"2409.20445","kind":"arxiv","version":1}},"canonical_sha256":"9b603ab109999f2a1bc9ffe6d2ec00a3503f5b9167f14620b7b451d4d0636266","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9b603ab109999f2a1bc9ffe6d2ec00a3503f5b9167f14620b7b451d4d0636266","first_computed_at":"2026-07-05T09:13:43.648369Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:13:43.648369Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ltATtWxU68O5WDJGMtMkje0hzDZA+UsW1yE8ziKGhAri60wAsRqnW/EBp0+vkUSR4iA5DdWItxYpB5KodxKrDw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:13:43.648826Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.20445","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7f80fe94baf830dcc5965121bb45f25b470ac94d8ddc3bff88c503b535d9e7d3","sha256:227e2e93ab9b8ad852931aa801b4abeee2611c1a7a7ae98ff96e8d181092148d"],"state_sha256":"283de4df885172639fa56e1080e20ec63ce30b5c50e626f8b3387eacbaf7ce94"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ukrT/Uf4YitOOHjLnrsLdpZwngTsiBvTU3dNsklTgP9IBy4seyYLtQJ6dcv35fYwTsmhKvpVL/ndCaFttmQZBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T23:31:52.275804Z","bundle_sha256":"9b25632857e35bf7ac41edeee92a6f8f04f3264fc38ad63974a42dc19a3f11b6"}}