{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YCAC5PAGSVLTMKRI5W3NY5SVZ2","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":"0f34940840dfc89c4590238d10b9a882e14a235fbfa5239ff13c478da03c16dd","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T15:27:12Z","title_canon_sha256":"449fb7d8dc6e96ef492133a606cc118a32902f048c6003e979274039fe5ec64f"},"schema_version":"1.0","source":{"id":"2509.02425","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.02425","created_at":"2026-07-05T12:03:38Z"},{"alias_kind":"arxiv_version","alias_value":"2509.02425v1","created_at":"2026-07-05T12:03:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.02425","created_at":"2026-07-05T12:03:38Z"},{"alias_kind":"pith_short_12","alias_value":"YCAC5PAGSVLT","created_at":"2026-07-05T12:03:38Z"},{"alias_kind":"pith_short_16","alias_value":"YCAC5PAGSVLTMKRI","created_at":"2026-07-05T12:03:38Z"},{"alias_kind":"pith_short_8","alias_value":"YCAC5PAG","created_at":"2026-07-05T12:03:38Z"}],"graph_snapshots":[{"event_id":"sha256:e3e9a17f3cfc8b09921c8a2cd794fa2e330e82c7ae13ae3efce2a2faa9cd94da","target":"graph","created_at":"2026-07-05T12:03:38Z","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/2509.02425/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and gathering multiple objects. While many existing assistive technologies focus on basic navigation or obstacle avoidance, few systems provide scalable and efficient multi-object search capabilities in real-world, partially observable settings. To address this gap, we introduce OpenGuide, an assistive mobile robot system that combines natural language understandin","authors_text":"Carol Menassa, Qianwei Wang, Vineet Kamat, Yifan Xu","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T15:27:12Z","title":"OpenGuide: Assistive Object Retrieval in Indoor Spaces for Individuals with Visual Impairments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.02425","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:dc312cd3aa80dd90413de6e180d7d07977f065b002a75dc7c80b34a5b29df981","target":"record","created_at":"2026-07-05T12:03:38Z","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":"0f34940840dfc89c4590238d10b9a882e14a235fbfa5239ff13c478da03c16dd","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-02T15:27:12Z","title_canon_sha256":"449fb7d8dc6e96ef492133a606cc118a32902f048c6003e979274039fe5ec64f"},"schema_version":"1.0","source":{"id":"2509.02425","kind":"arxiv","version":1}},"canonical_sha256":"c0802ebc069557362a28edb6dc7655ceb5af3417798c28d579df4ee3c6e00aa9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c0802ebc069557362a28edb6dc7655ceb5af3417798c28d579df4ee3c6e00aa9","first_computed_at":"2026-07-05T12:03:38.312143Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:03:38.312143Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EF2iMWGGcl7QL4OonglIBUVKdgdhMy2uXtNXiFyCUc87sAKIoZ1YCrcRG/O56c7zAHNJepQCaVBcnkELs9eiCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T12:03:38.312647Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.02425","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dc312cd3aa80dd90413de6e180d7d07977f065b002a75dc7c80b34a5b29df981","sha256:e3e9a17f3cfc8b09921c8a2cd794fa2e330e82c7ae13ae3efce2a2faa9cd94da"],"state_sha256":"c3fb6c3a3eff8586c2638b93547687c0cb8851340401f548d61456f2a4102e0a"}