{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:USEMGXQ3NVKHFR6UOBEXXJDULP","short_pith_number":"pith:USEMGXQ3","canonical_record":{"source":{"id":"2312.03275","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-06T04:02:28Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"3efd6fc84841da1e60cac4c7f6f49cf1a906633a4121ce2730409b3d3f638675","abstract_canon_sha256":"864df56a4fbc1863b96464e183a1e142c97c79977e4b4d42ca4b986e9def0558"},"schema_version":"1.0"},"canonical_sha256":"a488c35e1b6d5472c7d470497ba4745bd6e13c4aa0402e0ca8758a67553f11e3","source":{"kind":"arxiv","id":"2312.03275","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.03275","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"arxiv_version","alias_value":"2312.03275v1","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.03275","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_12","alias_value":"USEMGXQ3NVKH","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_16","alias_value":"USEMGXQ3NVKHFR6U","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_8","alias_value":"USEMGXQ3","created_at":"2026-07-05T07:21:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:USEMGXQ3NVKHFR6UOBEXXJDULP","target":"record","payload":{"canonical_record":{"source":{"id":"2312.03275","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-06T04:02:28Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"3efd6fc84841da1e60cac4c7f6f49cf1a906633a4121ce2730409b3d3f638675","abstract_canon_sha256":"864df56a4fbc1863b96464e183a1e142c97c79977e4b4d42ca4b986e9def0558"},"schema_version":"1.0"},"canonical_sha256":"a488c35e1b6d5472c7d470497ba4745bd6e13c4aa0402e0ca8758a67553f11e3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:21:01.196027Z","signature_b64":"ll3+rlhBy0emVf5OH0kh467z53ClikQy0ieQ5KNtA5Kde6CCas1xRuYbq0MR2mobdI5ckTNmQkkIhRDMGweOCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a488c35e1b6d5472c7d470497ba4745bd6e13c4aa0402e0ca8758a67553f11e3","last_reissued_at":"2026-07-05T07:21:01.195576Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:21:01.195576Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.03275","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":"2026-07-05T07:21:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9KjQZ4MuyD4C7T8e+KRJ4f9OFk/qbgIebT0/yXt8D0o6VI55ThYidDNo2JC/IqKpLezpbCLeP6Y4WrWmyrgeCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-20T05:45:17.991176Z"},"content_sha256":"de8c20a68d8783858ca0b4faff521fdd6fd4a51033000b103adae6f0c9674005","schema_version":"1.0","event_id":"sha256:de8c20a68d8783858ca0b4faff521fdd6fd4a51033000b103adae6f0c9674005"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:USEMGXQ3NVKHFR6UOBEXXJDULP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bernadette Bucher, Dhruv Batra, Jiuguang Wang, Naoki Yokoyama, Sehoon Ha","submitted_at":"2023-12-06T04:02:28Z","abstract_excerpt":"Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach, Vision-Language Frontier Maps (VLFM), which is inspired by human reasoning and designed to navigate towards unseen semantic objects in novel environments. VLFM builds occupancy maps from depth observations to identify frontiers, and leverages RGB observations and a pre-trained vision-language model to generate a language-grounded value map. VLFM then uses t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.03275","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/2312.03275/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":"2026-07-05T07:21:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"snWYcOPBs0BUnHq8vHkrWset7EXLmuC9HrTc6UvGo0JKRrcXHxAnfstbvT+peX8Lh/jZhje6GZhMHyLcnHx3CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-20T05:45:17.991552Z"},"content_sha256":"38923d94f8e77d43e781faf099b7029e435a069a7d68ba0b25cb56e5fa57840b","schema_version":"1.0","event_id":"sha256:38923d94f8e77d43e781faf099b7029e435a069a7d68ba0b25cb56e5fa57840b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/bundle.json","state_url":"https://pith.science/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/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":"2026-07-20T05:45:17Z","links":{"resolver":"https://pith.science/pith/USEMGXQ3NVKHFR6UOBEXXJDULP","bundle":"https://pith.science/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/bundle.json","state":"https://pith.science/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/USEMGXQ3NVKHFR6UOBEXXJDULP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:USEMGXQ3NVKHFR6UOBEXXJDULP","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":"864df56a4fbc1863b96464e183a1e142c97c79977e4b4d42ca4b986e9def0558","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-06T04:02:28Z","title_canon_sha256":"3efd6fc84841da1e60cac4c7f6f49cf1a906633a4121ce2730409b3d3f638675"},"schema_version":"1.0","source":{"id":"2312.03275","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.03275","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"arxiv_version","alias_value":"2312.03275v1","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.03275","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_12","alias_value":"USEMGXQ3NVKH","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_16","alias_value":"USEMGXQ3NVKHFR6U","created_at":"2026-07-05T07:21:01Z"},{"alias_kind":"pith_short_8","alias_value":"USEMGXQ3","created_at":"2026-07-05T07:21:01Z"}],"graph_snapshots":[{"event_id":"sha256:38923d94f8e77d43e781faf099b7029e435a069a7d68ba0b25cb56e5fa57840b","target":"graph","created_at":"2026-07-05T07:21:01Z","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/2312.03275/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach, Vision-Language Frontier Maps (VLFM), which is inspired by human reasoning and designed to navigate towards unseen semantic objects in novel environments. VLFM builds occupancy maps from depth observations to identify frontiers, and leverages RGB observations and a pre-trained vision-language model to generate a language-grounded value map. VLFM then uses t","authors_text":"Bernadette Bucher, Dhruv Batra, Jiuguang Wang, Naoki Yokoyama, Sehoon Ha","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-06T04:02:28Z","title":"VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.03275","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:de8c20a68d8783858ca0b4faff521fdd6fd4a51033000b103adae6f0c9674005","target":"record","created_at":"2026-07-05T07:21:01Z","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":"864df56a4fbc1863b96464e183a1e142c97c79977e4b4d42ca4b986e9def0558","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-06T04:02:28Z","title_canon_sha256":"3efd6fc84841da1e60cac4c7f6f49cf1a906633a4121ce2730409b3d3f638675"},"schema_version":"1.0","source":{"id":"2312.03275","kind":"arxiv","version":1}},"canonical_sha256":"a488c35e1b6d5472c7d470497ba4745bd6e13c4aa0402e0ca8758a67553f11e3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a488c35e1b6d5472c7d470497ba4745bd6e13c4aa0402e0ca8758a67553f11e3","first_computed_at":"2026-07-05T07:21:01.195576Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:21:01.195576Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ll3+rlhBy0emVf5OH0kh467z53ClikQy0ieQ5KNtA5Kde6CCas1xRuYbq0MR2mobdI5ckTNmQkkIhRDMGweOCw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:21:01.196027Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.03275","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:de8c20a68d8783858ca0b4faff521fdd6fd4a51033000b103adae6f0c9674005","sha256:38923d94f8e77d43e781faf099b7029e435a069a7d68ba0b25cb56e5fa57840b"],"state_sha256":"f4214946ec39f89684150d94748bb9fb8b1e9b68ec685efbd68077f712b9b07c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R8zcixhrAqhy6gFn7TEVSg1UMiITCmY037tyW2CZP9eE9yVnBcg5OBHTRKWE/6HyqMtu59ACbBKf2QS25FcUCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-20T05:45:17.993641Z","bundle_sha256":"c0f7b16ed976a3146460531c01edb3b70a460241f6b65adceca1beea0d0fdffd"}}