Pith Number

pith:VEFHIN23

pith:2026:VEFHIN23KXCXUPRGP3MSOO3XZC

not attested not anchored not stored refs pending

SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation

Guang Li, Junjie An, Shuyang Yu, Xiao Liu, Xiaoqing Guan, Yiqun Zhou, Yi Wu, You Wang, Yuechen Wu

arxiv:2607.14586 v1 · 2026-07-16 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{VEFHIN23KXCXUPRGP3MSOO3XZC}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-17T01:21:19.578734Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a90a74375b55c57a3e267ed9273b77c88d774854da45bde31303ad5a4ae713de

Aliases

arxiv: 2607.14586 · arxiv_version: 2607.14586v1 · doi: 10.48550/arxiv.2607.14586 · pith_short_12: VEFHIN23KXCX · pith_short_16: VEFHIN23KXCXUPRG · pith_short_8: VEFHIN23

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/VEFHIN23KXCXUPRGP3MSOO3XZC \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: a90a74375b55c57a3e267ed9273b77c88d774854da45bde31303ad5a4ae713de

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "21524e1b273140a20436b05adefad7a43426bfef926f021e157649b362608dd4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-16T05:32:52Z",
    "title_canon_sha256": "76c787e52360126caa13df74dc0a3f32ded792e119c24041cc9b026e842dcb79"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.14586",
    "kind": "arxiv",
    "version": 1
  }
}