{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:TTNKFRA5APH3XSU75PU2VMRRBA","short_pith_number":"pith:TTNKFRA5","canonical_record":{"source":{"id":"2012.02705","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-12-04T16:27:59Z","cross_cats_sorted":["cs.CL"],"title_canon_sha256":"393ed4db79d9a145b6ef231a25160ecda454a56f18bc162e95eb7428fa6696b8","abstract_canon_sha256":"73d22135dad1e8071a4c4da02a89391c90fba02d436bfd3ba6c4a19a5c1af1c5"},"schema_version":"1.0"},"canonical_sha256":"9cdaa2c41d03cfbbca9febe9aab23108154371dab56301418cf3413e38ca679e","source":{"kind":"arxiv","id":"2012.02705","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.02705","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"arxiv_version","alias_value":"2012.02705v3","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.02705","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_12","alias_value":"TTNKFRA5APH3","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_16","alias_value":"TTNKFRA5APH3XSU7","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_8","alias_value":"TTNKFRA5","created_at":"2026-07-05T03:02:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:TTNKFRA5APH3XSU75PU2VMRRBA","target":"record","payload":{"canonical_record":{"source":{"id":"2012.02705","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-12-04T16:27:59Z","cross_cats_sorted":["cs.CL"],"title_canon_sha256":"393ed4db79d9a145b6ef231a25160ecda454a56f18bc162e95eb7428fa6696b8","abstract_canon_sha256":"73d22135dad1e8071a4c4da02a89391c90fba02d436bfd3ba6c4a19a5c1af1c5"},"schema_version":"1.0"},"canonical_sha256":"9cdaa2c41d03cfbbca9febe9aab23108154371dab56301418cf3413e38ca679e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:02:10.426220Z","signature_b64":"Ndc5l5fhU2YNcWusSUClsiG5tDqSRVP1Yn3NhVjI7ENn3KjQmMZrjPZkJ3R8C6LxJAcn/ELL8BWBh9kWeNPlBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9cdaa2c41d03cfbbca9febe9aab23108154371dab56301418cf3413e38ca679e","last_reissued_at":"2026-07-05T03:02:10.425677Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:02:10.425677Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2012.02705","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:02:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cVlQqpsm9DFi+IBocPtErqE90C9lpkB8CKcn+2uswDGt2OgPP1e5KkvReWM3NSG2ABORDOVdKkvuPc8wCPpoDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:26:11.152309Z"},"content_sha256":"66a5ea5cffb7bb2c0ab9c040128e416f2133ce79bbde9d2ac67def169440ef21","schema_version":"1.0","event_id":"sha256:66a5ea5cffb7bb2c0ab9c040128e416f2133ce79bbde9d2ac67def169440ef21"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:TTNKFRA5APH3XSU75PU2VMRRBA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Spatial Language Understanding for Object Search in Partially Observed City-scale Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CL"],"primary_cat":"cs.RO","authors_text":"Deniz Bayazit, Ellie Pavlick, Kaiyu Zheng, Rebecca Mathew, Stefanie Tellex","submitted_at":"2020-12-04T16:27:59Z","abstract_excerpt":"Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work primarily considers spatial language as goal specification for instruction following tasks in fully observable domains, often paired with reference paths for reward-based learning. However, spatial language is inherently subjective and potentially ambiguous or misleading. Hence, in this paper, we consider spatial language as a form of stochastic observation. We"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.02705","kind":"arxiv","version":3},"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/2012.02705/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":"2026-07-05T03:02:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ySTm/IIKvVoOp/5JBtm38pkoB9QSn3ywU4MZF890sN3pSjGMItFOUuVPw7EMj5pKBCmDOjOD9/MG4RHqSHjJCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:26:11.152706Z"},"content_sha256":"4c94b01f31ad28107285813be3a1c60e97871f973f6105f15f2ff1902d8869f2","schema_version":"1.0","event_id":"sha256:4c94b01f31ad28107285813be3a1c60e97871f973f6105f15f2ff1902d8869f2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TTNKFRA5APH3XSU75PU2VMRRBA/bundle.json","state_url":"https://pith.science/pith/TTNKFRA5APH3XSU75PU2VMRRBA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TTNKFRA5APH3XSU75PU2VMRRBA/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":"2026-07-06T16:26:11Z","links":{"resolver":"https://pith.science/pith/TTNKFRA5APH3XSU75PU2VMRRBA","bundle":"https://pith.science/pith/TTNKFRA5APH3XSU75PU2VMRRBA/bundle.json","state":"https://pith.science/pith/TTNKFRA5APH3XSU75PU2VMRRBA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TTNKFRA5APH3XSU75PU2VMRRBA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:TTNKFRA5APH3XSU75PU2VMRRBA","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":"73d22135dad1e8071a4c4da02a89391c90fba02d436bfd3ba6c4a19a5c1af1c5","cross_cats_sorted":["cs.CL"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-12-04T16:27:59Z","title_canon_sha256":"393ed4db79d9a145b6ef231a25160ecda454a56f18bc162e95eb7428fa6696b8"},"schema_version":"1.0","source":{"id":"2012.02705","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.02705","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"arxiv_version","alias_value":"2012.02705v3","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.02705","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_12","alias_value":"TTNKFRA5APH3","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_16","alias_value":"TTNKFRA5APH3XSU7","created_at":"2026-07-05T03:02:10Z"},{"alias_kind":"pith_short_8","alias_value":"TTNKFRA5","created_at":"2026-07-05T03:02:10Z"}],"graph_snapshots":[{"event_id":"sha256:4c94b01f31ad28107285813be3a1c60e97871f973f6105f15f2ff1902d8869f2","target":"graph","created_at":"2026-07-05T03:02:10Z","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/2012.02705/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work primarily considers spatial language as goal specification for instruction following tasks in fully observable domains, often paired with reference paths for reward-based learning. However, spatial language is inherently subjective and potentially ambiguous or misleading. Hence, in this paper, we consider spatial language as a form of stochastic observation. We","authors_text":"Deniz Bayazit, Ellie Pavlick, Kaiyu Zheng, Rebecca Mathew, Stefanie Tellex","cross_cats":["cs.CL"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-12-04T16:27:59Z","title":"Spatial Language Understanding for Object Search in Partially Observed City-scale Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.02705","kind":"arxiv","version":3},"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":"sha256:66a5ea5cffb7bb2c0ab9c040128e416f2133ce79bbde9d2ac67def169440ef21","target":"record","created_at":"2026-07-05T03:02:10Z","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":"73d22135dad1e8071a4c4da02a89391c90fba02d436bfd3ba6c4a19a5c1af1c5","cross_cats_sorted":["cs.CL"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-12-04T16:27:59Z","title_canon_sha256":"393ed4db79d9a145b6ef231a25160ecda454a56f18bc162e95eb7428fa6696b8"},"schema_version":"1.0","source":{"id":"2012.02705","kind":"arxiv","version":3}},"canonical_sha256":"9cdaa2c41d03cfbbca9febe9aab23108154371dab56301418cf3413e38ca679e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9cdaa2c41d03cfbbca9febe9aab23108154371dab56301418cf3413e38ca679e","first_computed_at":"2026-07-05T03:02:10.425677Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:02:10.425677Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ndc5l5fhU2YNcWusSUClsiG5tDqSRVP1Yn3NhVjI7ENn3KjQmMZrjPZkJ3R8C6LxJAcn/ELL8BWBh9kWeNPlBA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:02:10.426220Z","signed_message":"canonical_sha256_bytes"},"source_id":"2012.02705","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:66a5ea5cffb7bb2c0ab9c040128e416f2133ce79bbde9d2ac67def169440ef21","sha256:4c94b01f31ad28107285813be3a1c60e97871f973f6105f15f2ff1902d8869f2"],"state_sha256":"96549cef758f3e7962e023fc235da5885fa338cb032fb181aaac069210e50aa0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EUB1gasOoWfpybWQOjdvPY6wUnKu0BN7VN+rtFDvWtHN4QKKVcBcs8dS5/7DcJy4lZ3i29RY0REc9uAggdaJAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:26:11.156735Z","bundle_sha256":"dfb28515c14ced35618d06079d45a334e17adc2376766e363c4af6ab7092f7a8"}}