{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:Y3W33QRGOEVZBCE2TJRLGDVLIF","short_pith_number":"pith:Y3W33QRG","canonical_record":{"source":{"id":"1709.05439","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2017-09-16T00:39:19Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"95d2bdc973b0257109696581a2e287825de45dc467dc77b69d3bde0fe52fe5f5","abstract_canon_sha256":"02eadc9b2d9e63154af1371544f92d7db842bd9b4faa4194a2f9119bf9b5a619"},"schema_version":"1.0"},"canonical_sha256":"c6edbdc226712b90889a9a62b30eab416c8f534f98aa0b94c3060484de4f99f9","source":{"kind":"arxiv","id":"1709.05439","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.05439","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"arxiv_version","alias_value":"1709.05439v1","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.05439","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"pith_short_12","alias_value":"Y3W33QRGOEVZ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"Y3W33QRGOEVZBCE2","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"Y3W33QRG","created_at":"2026-05-18T12:31:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:Y3W33QRGOEVZBCE2TJRLGDVLIF","target":"record","payload":{"canonical_record":{"source":{"id":"1709.05439","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2017-09-16T00:39:19Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"95d2bdc973b0257109696581a2e287825de45dc467dc77b69d3bde0fe52fe5f5","abstract_canon_sha256":"02eadc9b2d9e63154af1371544f92d7db842bd9b4faa4194a2f9119bf9b5a619"},"schema_version":"1.0"},"canonical_sha256":"c6edbdc226712b90889a9a62b30eab416c8f534f98aa0b94c3060484de4f99f9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:35:00.785589Z","signature_b64":"wxWHMy5p8+IX7Bni49LsLhtX4npuxSW9lrG2cZ+iFI2BehCqxTiBIhI6tV0SePwZ8Za0qgagK7zLXN6oh8gUCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c6edbdc226712b90889a9a62b30eab416c8f534f98aa0b94c3060484de4f99f9","last_reissued_at":"2026-05-18T00:35:00.785046Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:35:00.785046Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.05439","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":"2026-05-18T00:35:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G6MYjA8dxWf4dyiyyyEcec00k1T/uRZRLDDj+FMtdbLRM8EE3NzHSsMEsgY5CeeCVVUTGgXauGyUHPPCEqdLAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T09:59:28.026951Z"},"content_sha256":"84b0a69391a719f78d61337ae295d7ee6994f9a14b06dbe026307cba16803afb","schema_version":"1.0","event_id":"sha256:84b0a69391a719f78d61337ae295d7ee6994f9a14b06dbe026307cba16803afb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:Y3W33QRGOEVZBCE2TJRLGDVLIF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"To Go or Not To Go? A Near Unsupervised Learning Approach For Robot Navigation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Amir Sadeghian, Noriaki Hirose, Patrick Goebel, Silvio Savarese","submitted_at":"2017-09-16T00:39:19Z","abstract_excerpt":"It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into people and obstacles, getting stuck, or falling off an edge. To this end, we propose an unsupervised and a near-unsupervised method based on Generative Adversarial Networks (GAN) to classify scenarios as traversable or not based on visual data. Our method is inspired by the recent success of data-driven approaches on computer vision problems and anomaly detectio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.05439","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":""},"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":"2026-05-18T00:35:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"adUp//WPFAp7jIvYvzvfpPBeis8xToNQLKOzVCEaCpyiHaKs3T6UVbmvGPiidUsX6dwYy2LlxPMshXFHDkrZBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T09:59:28.027300Z"},"content_sha256":"4a91f1f4975738785bd755a63ab9e7d02da754811a8fce2565ad98c9fff99636","schema_version":"1.0","event_id":"sha256:4a91f1f4975738785bd755a63ab9e7d02da754811a8fce2565ad98c9fff99636"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/bundle.json","state_url":"https://pith.science/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/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":"2026-06-08T09:59:28Z","links":{"resolver":"https://pith.science/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF","bundle":"https://pith.science/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/bundle.json","state":"https://pith.science/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y3W33QRGOEVZBCE2TJRLGDVLIF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:Y3W33QRGOEVZBCE2TJRLGDVLIF","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":"02eadc9b2d9e63154af1371544f92d7db842bd9b4faa4194a2f9119bf9b5a619","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2017-09-16T00:39:19Z","title_canon_sha256":"95d2bdc973b0257109696581a2e287825de45dc467dc77b69d3bde0fe52fe5f5"},"schema_version":"1.0","source":{"id":"1709.05439","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.05439","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"arxiv_version","alias_value":"1709.05439v1","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.05439","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"pith_short_12","alias_value":"Y3W33QRGOEVZ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"Y3W33QRGOEVZBCE2","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"Y3W33QRG","created_at":"2026-05-18T12:31:56Z"}],"graph_snapshots":[{"event_id":"sha256:4a91f1f4975738785bd755a63ab9e7d02da754811a8fce2565ad98c9fff99636","target":"graph","created_at":"2026-05-18T00:35:00Z","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"},"paper":{"abstract_excerpt":"It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into people and obstacles, getting stuck, or falling off an edge. To this end, we propose an unsupervised and a near-unsupervised method based on Generative Adversarial Networks (GAN) to classify scenarios as traversable or not based on visual data. Our method is inspired by the recent success of data-driven approaches on computer vision problems and anomaly detectio","authors_text":"Amir Sadeghian, Noriaki Hirose, Patrick Goebel, Silvio Savarese","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2017-09-16T00:39:19Z","title":"To Go or Not To Go? A Near Unsupervised Learning Approach For Robot Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.05439","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":"sha256:84b0a69391a719f78d61337ae295d7ee6994f9a14b06dbe026307cba16803afb","target":"record","created_at":"2026-05-18T00:35:00Z","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":"02eadc9b2d9e63154af1371544f92d7db842bd9b4faa4194a2f9119bf9b5a619","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2017-09-16T00:39:19Z","title_canon_sha256":"95d2bdc973b0257109696581a2e287825de45dc467dc77b69d3bde0fe52fe5f5"},"schema_version":"1.0","source":{"id":"1709.05439","kind":"arxiv","version":1}},"canonical_sha256":"c6edbdc226712b90889a9a62b30eab416c8f534f98aa0b94c3060484de4f99f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6edbdc226712b90889a9a62b30eab416c8f534f98aa0b94c3060484de4f99f9","first_computed_at":"2026-05-18T00:35:00.785046Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:35:00.785046Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wxWHMy5p8+IX7Bni49LsLhtX4npuxSW9lrG2cZ+iFI2BehCqxTiBIhI6tV0SePwZ8Za0qgagK7zLXN6oh8gUCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:35:00.785589Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.05439","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:84b0a69391a719f78d61337ae295d7ee6994f9a14b06dbe026307cba16803afb","sha256:4a91f1f4975738785bd755a63ab9e7d02da754811a8fce2565ad98c9fff99636"],"state_sha256":"c03eb0fb9af0f43b6f29bfa11252a798b843f05e5acb4690c68cce4d19ea3c1c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4ZIxrH2Il4krhxT1x8d4Bil/e7RFQrxDkj2uo6gKpjvSpWQN/49p7UOzFmLv8GPzxymorMGJ7uJch4eFFlZlDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T09:59:28.029488Z","bundle_sha256":"52ea36192079af26028a76b3a4a15ced43e970ac1037ecb967e64ce00bfd1e7b"}}