{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:U2LLQV3JVQWJHWNO6XXEH4OR7A","short_pith_number":"pith:U2LLQV3J","canonical_record":{"source":{"id":"2209.07043","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T04:51:42Z","cross_cats_sorted":["cs.CV","cs.LG","cs.NE"],"title_canon_sha256":"7bcb331fc690198aac0f294d75adb411f6c3ec3783aadc56672a36269ba4cd34","abstract_canon_sha256":"c9f85564981e6228ca645766599275b6e18ecbd4189fd7e073fed86848c5b84e"},"schema_version":"1.0"},"canonical_sha256":"a696b85769ac2c93d9aef5ee43f1d1f81e3937f02c5a863cf62b1eac4c54e54d","source":{"kind":"arxiv","id":"2209.07043","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07043","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07043v2","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07043","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_12","alias_value":"U2LLQV3JVQWJ","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_16","alias_value":"U2LLQV3JVQWJHWNO","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_8","alias_value":"U2LLQV3J","created_at":"2026-07-05T04:58:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:U2LLQV3JVQWJHWNO6XXEH4OR7A","target":"record","payload":{"canonical_record":{"source":{"id":"2209.07043","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T04:51:42Z","cross_cats_sorted":["cs.CV","cs.LG","cs.NE"],"title_canon_sha256":"7bcb331fc690198aac0f294d75adb411f6c3ec3783aadc56672a36269ba4cd34","abstract_canon_sha256":"c9f85564981e6228ca645766599275b6e18ecbd4189fd7e073fed86848c5b84e"},"schema_version":"1.0"},"canonical_sha256":"a696b85769ac2c93d9aef5ee43f1d1f81e3937f02c5a863cf62b1eac4c54e54d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:58:39.778415Z","signature_b64":"fuQ2SYJ4wgfP1i7aE85jKTaqQSnJeBW5AiaJxoM4AYAwbfCbw8SjVivB61bnzg1hgN3V8xBQ7B3tEahXE4HKBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a696b85769ac2c93d9aef5ee43f1d1f81e3937f02c5a863cf62b1eac4c54e54d","last_reissued_at":"2026-07-05T04:58:39.778013Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:58:39.778013Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.07043","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":"2026-07-05T04:58:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DPFUoe9m3955bgT+PE8LCDQt0DQitKWOJEGATv8vy2h0gqJgC859Qiuw76TaDp62oD5W/lMJJ7jx/GCFb9pBAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T18:05:27.987718Z"},"content_sha256":"bda7b45aae767ee625b810d49b4177b4c22bf8a1d1c1fd59baa302ca1a14950b","schema_version":"1.0","event_id":"sha256:bda7b45aae767ee625b810d49b4177b4c22bf8a1d1c1fd59baa302ca1a14950b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:U2LLQV3JVQWJHWNO6XXEH4OR7A","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards self-attention based visual navigation in the real world","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV","cs.LG","cs.NE"],"primary_cat":"cs.RO","authors_text":"Chris McCarthy, Jack White, Jaime Ruiz-Serra, Stephen Petrie, Tatiana Kameneva","submitted_at":"2022-09-15T04:51:42Z","abstract_excerpt":"Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and selection of relevant features in pixel space upon which to base action choices, for which Machine Learning techniques are well suited. However, Deep Reinforcement Learning agents trained in simulation often exhibit unsatisfactory results when deployed in the real-world due to perceptual differences known as the $\\textit{reality gap}$. An approach that is yet t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07043","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/2209.07043/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":"2026-07-05T04:58:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bejD5uYzoTpobaZyY0Vf5Bnqk7EDV8izndgvkLzhl2PcNffVLDrOvWYp94JRNK4eT4LqyXNmlOG9Kg5MC6qPBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T18:05:27.988312Z"},"content_sha256":"0f1fb0823f2221af0d8e0c8a498c805c61010a697be9212a5786e42c4f1b9d47","schema_version":"1.0","event_id":"sha256:0f1fb0823f2221af0d8e0c8a498c805c61010a697be9212a5786e42c4f1b9d47"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/bundle.json","state_url":"https://pith.science/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/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":"2026-07-31T18:05:27Z","links":{"resolver":"https://pith.science/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A","bundle":"https://pith.science/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/bundle.json","state":"https://pith.science/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U2LLQV3JVQWJHWNO6XXEH4OR7A/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:U2LLQV3JVQWJHWNO6XXEH4OR7A","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":"c9f85564981e6228ca645766599275b6e18ecbd4189fd7e073fed86848c5b84e","cross_cats_sorted":["cs.CV","cs.LG","cs.NE"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T04:51:42Z","title_canon_sha256":"7bcb331fc690198aac0f294d75adb411f6c3ec3783aadc56672a36269ba4cd34"},"schema_version":"1.0","source":{"id":"2209.07043","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.07043","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"arxiv_version","alias_value":"2209.07043v2","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.07043","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_12","alias_value":"U2LLQV3JVQWJ","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_16","alias_value":"U2LLQV3JVQWJHWNO","created_at":"2026-07-05T04:58:39Z"},{"alias_kind":"pith_short_8","alias_value":"U2LLQV3J","created_at":"2026-07-05T04:58:39Z"}],"graph_snapshots":[{"event_id":"sha256:0f1fb0823f2221af0d8e0c8a498c805c61010a697be9212a5786e42c4f1b9d47","target":"graph","created_at":"2026-07-05T04:58:39Z","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/2209.07043/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and selection of relevant features in pixel space upon which to base action choices, for which Machine Learning techniques are well suited. However, Deep Reinforcement Learning agents trained in simulation often exhibit unsatisfactory results when deployed in the real-world due to perceptual differences known as the $\\textit{reality gap}$. An approach that is yet t","authors_text":"Chris McCarthy, Jack White, Jaime Ruiz-Serra, Stephen Petrie, Tatiana Kameneva","cross_cats":["cs.CV","cs.LG","cs.NE"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T04:51:42Z","title":"Towards self-attention based visual navigation in the real world"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.07043","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:bda7b45aae767ee625b810d49b4177b4c22bf8a1d1c1fd59baa302ca1a14950b","target":"record","created_at":"2026-07-05T04:58:39Z","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":"c9f85564981e6228ca645766599275b6e18ecbd4189fd7e073fed86848c5b84e","cross_cats_sorted":["cs.CV","cs.LG","cs.NE"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-15T04:51:42Z","title_canon_sha256":"7bcb331fc690198aac0f294d75adb411f6c3ec3783aadc56672a36269ba4cd34"},"schema_version":"1.0","source":{"id":"2209.07043","kind":"arxiv","version":2}},"canonical_sha256":"a696b85769ac2c93d9aef5ee43f1d1f81e3937f02c5a863cf62b1eac4c54e54d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a696b85769ac2c93d9aef5ee43f1d1f81e3937f02c5a863cf62b1eac4c54e54d","first_computed_at":"2026-07-05T04:58:39.778013Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:58:39.778013Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fuQ2SYJ4wgfP1i7aE85jKTaqQSnJeBW5AiaJxoM4AYAwbfCbw8SjVivB61bnzg1hgN3V8xBQ7B3tEahXE4HKBA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:58:39.778415Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.07043","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bda7b45aae767ee625b810d49b4177b4c22bf8a1d1c1fd59baa302ca1a14950b","sha256:0f1fb0823f2221af0d8e0c8a498c805c61010a697be9212a5786e42c4f1b9d47"],"state_sha256":"074c5f59f9e74e11970e52de8bc1e10a407038ae81786a02a32604161b88b21b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ldf/cLjESutouxwe4Ok1hhDW56qWqvgNtRVA2sDMFJZMDENC5JBMEja7WwGkoTgSlOi9re+Vtzx5RuNBGhdtCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-31T18:05:28.001160Z","bundle_sha256":"defa50addb2588c1c635f118da554901c429dc690993e493eb232ad68ab7db11"}}