{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:WFBH2IRH4FDML3DZYQIGYVAKQD","short_pith_number":"pith:WFBH2IRH","canonical_record":{"source":{"id":"2607.25219","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T02:51:24Z","cross_cats_sorted":[],"title_canon_sha256":"c96c694e11747d6f46c5fe1f899d632c42780af235490d307cdc60c836540722","abstract_canon_sha256":"190b88fe42264aef2c00a5d6b348155bccc10fa1eb4b0bd9f6b590be58274b52"},"schema_version":"1.0"},"canonical_sha256":"b1427d2227e146c5ec79c4106c540a80e8e6d1df80c005a60b8a796482e001b0","source":{"kind":"arxiv","id":"2607.25219","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.25219","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"arxiv_version","alias_value":"2607.25219v1","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.25219","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_12","alias_value":"WFBH2IRH4FDM","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_16","alias_value":"WFBH2IRH4FDML3DZ","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_8","alias_value":"WFBH2IRH","created_at":"2026-07-29T00:25:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:WFBH2IRH4FDML3DZYQIGYVAKQD","target":"record","payload":{"canonical_record":{"source":{"id":"2607.25219","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T02:51:24Z","cross_cats_sorted":[],"title_canon_sha256":"c96c694e11747d6f46c5fe1f899d632c42780af235490d307cdc60c836540722","abstract_canon_sha256":"190b88fe42264aef2c00a5d6b348155bccc10fa1eb4b0bd9f6b590be58274b52"},"schema_version":"1.0"},"canonical_sha256":"b1427d2227e146c5ec79c4106c540a80e8e6d1df80c005a60b8a796482e001b0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-29T00:25:09.216173Z","signature_b64":"Kvs5rjQMCZLpvM4n8GzmNws9bYxKDBYyKvXv6DiMXBA1P3ScekxAxqvu6YdSCGRhYpEHJ5jJbZwGSIUfLXtjAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1427d2227e146c5ec79c4106c540a80e8e6d1df80c005a60b8a796482e001b0","last_reissued_at":"2026-07-29T00:25:09.215308Z","signature_status":"signed_v1","first_computed_at":"2026-07-29T00:25:09.215308Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.25219","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":"2026-07-29T00:25:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zTUilEvIjz9lL83iyX9UImF0OGvKTmTv7Ge39trkE47g/uPUnPZfmFbed8nhfVaHKdFvPA183kMcxa/Rh60HBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-02T17:02:07.288825Z"},"content_sha256":"a8237f8adb08ca67673b4ad006ebc2874bae62bf01c7791fca818c79486473ae","schema_version":"1.0","event_id":"sha256:a8237f8adb08ca67673b4ad006ebc2874bae62bf01c7791fca818c79486473ae"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:WFBH2IRH4FDML3DZYQIGYVAKQD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SONG: A Photorealistic 3D Gaussian Simulation Platform for Benchmarking Social Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dianyi Yang, Hao Xu, Jiaxin Li, Shuangyi Dong, Wei Liang, Weiqi Huang, Zan Wang","submitted_at":"2026-07-28T02:51:24Z","abstract_excerpt":"Social navigation has progressed from simplified 2D environments toward a more general vision-based setting, in which a robot needs to achieve socially compliant behavior purely from onboard visual observations. Yet supporting simulation platforms have not kept pace: existing options either lack visual observations, lack moving human avatars, or fall short of real-world fidelity in appearance and pedestrian behavior, offering limited support for advancing vision-based social navigation. We introduce SONG, a SOcial Navigation platform powered by 3D Gaussian splatting (3DGS). It leverages 3DGS f"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.25219","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/2607.25219/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":"2026-07-29T00:25:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FAQR2bA5pD8N8IiiZHEFh6AqW7QCf03mtN+6TyMlMpaqHWmAaOvJq54yB8gifzblKIB1yGaWHBfhxKV9tfqeDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-02T17:02:07.289290Z"},"content_sha256":"f382e2d28a70723326189850cbdb0c8cfd407035a943902e2f19d224d4b8f811","schema_version":"1.0","event_id":"sha256:f382e2d28a70723326189850cbdb0c8cfd407035a943902e2f19d224d4b8f811"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/bundle.json","state_url":"https://pith.science/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/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":"2026-08-02T17:02:07Z","links":{"resolver":"https://pith.science/pith/WFBH2IRH4FDML3DZYQIGYVAKQD","bundle":"https://pith.science/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/bundle.json","state":"https://pith.science/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WFBH2IRH4FDML3DZYQIGYVAKQD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WFBH2IRH4FDML3DZYQIGYVAKQD","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":"190b88fe42264aef2c00a5d6b348155bccc10fa1eb4b0bd9f6b590be58274b52","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T02:51:24Z","title_canon_sha256":"c96c694e11747d6f46c5fe1f899d632c42780af235490d307cdc60c836540722"},"schema_version":"1.0","source":{"id":"2607.25219","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.25219","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"arxiv_version","alias_value":"2607.25219v1","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.25219","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_12","alias_value":"WFBH2IRH4FDM","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_16","alias_value":"WFBH2IRH4FDML3DZ","created_at":"2026-07-29T00:25:09Z"},{"alias_kind":"pith_short_8","alias_value":"WFBH2IRH","created_at":"2026-07-29T00:25:09Z"}],"graph_snapshots":[{"event_id":"sha256:f382e2d28a70723326189850cbdb0c8cfd407035a943902e2f19d224d4b8f811","target":"graph","created_at":"2026-07-29T00:25:09Z","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/2607.25219/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Social navigation has progressed from simplified 2D environments toward a more general vision-based setting, in which a robot needs to achieve socially compliant behavior purely from onboard visual observations. Yet supporting simulation platforms have not kept pace: existing options either lack visual observations, lack moving human avatars, or fall short of real-world fidelity in appearance and pedestrian behavior, offering limited support for advancing vision-based social navigation. We introduce SONG, a SOcial Navigation platform powered by 3D Gaussian splatting (3DGS). It leverages 3DGS f","authors_text":"Dianyi Yang, Hao Xu, Jiaxin Li, Shuangyi Dong, Wei Liang, Weiqi Huang, Zan Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T02:51:24Z","title":"SONG: A Photorealistic 3D Gaussian Simulation Platform for Benchmarking Social Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.25219","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:a8237f8adb08ca67673b4ad006ebc2874bae62bf01c7791fca818c79486473ae","target":"record","created_at":"2026-07-29T00:25:09Z","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":"190b88fe42264aef2c00a5d6b348155bccc10fa1eb4b0bd9f6b590be58274b52","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T02:51:24Z","title_canon_sha256":"c96c694e11747d6f46c5fe1f899d632c42780af235490d307cdc60c836540722"},"schema_version":"1.0","source":{"id":"2607.25219","kind":"arxiv","version":1}},"canonical_sha256":"b1427d2227e146c5ec79c4106c540a80e8e6d1df80c005a60b8a796482e001b0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1427d2227e146c5ec79c4106c540a80e8e6d1df80c005a60b8a796482e001b0","first_computed_at":"2026-07-29T00:25:09.215308Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-29T00:25:09.215308Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Kvs5rjQMCZLpvM4n8GzmNws9bYxKDBYyKvXv6DiMXBA1P3ScekxAxqvu6YdSCGRhYpEHJ5jJbZwGSIUfLXtjAQ==","signature_status":"signed_v1","signed_at":"2026-07-29T00:25:09.216173Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.25219","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a8237f8adb08ca67673b4ad006ebc2874bae62bf01c7791fca818c79486473ae","sha256:f382e2d28a70723326189850cbdb0c8cfd407035a943902e2f19d224d4b8f811"],"state_sha256":"aba1b336655a77d29c313bfe8736614a19c39983017ce4d8f8cac3b1b196b3e4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3hI+11egNJEzw8OWRmU2N+EbiGOEUVU0Txp7HR54Cvip0aiCDAnsL4yF6/sn8wORf23PViGt2UG2Js8/WGpbAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-02T17:02:07.292523Z","bundle_sha256":"fb5dd8c546beceb7b8c05243adde68b7e4ada1b6128efa30da0834acce5d6d9e"}}