{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:YI37ONPEHJ6N47VCA43SEYH47K","short_pith_number":"pith:YI37ONPE","canonical_record":{"source":{"id":"2310.00982","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T08:44:13Z","cross_cats_sorted":[],"title_canon_sha256":"e2b675f3535a244cf85421d796c32a7146a9137e8294f26a4245a9d3c85d5485","abstract_canon_sha256":"30f0d2fe354ba930b696713d0c3589504a7b318d8597f057c79490c203853b6b"},"schema_version":"1.0"},"canonical_sha256":"c237f735e43a7cde7ea207372260fcfaba5d257eecd087e823cd377e5a47b848","source":{"kind":"arxiv","id":"2310.00982","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.00982","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"arxiv_version","alias_value":"2310.00982v3","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.00982","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_12","alias_value":"YI37ONPEHJ6N","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_16","alias_value":"YI37ONPEHJ6N47VC","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_8","alias_value":"YI37ONPE","created_at":"2026-07-05T08:21:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:YI37ONPEHJ6N47VCA43SEYH47K","target":"record","payload":{"canonical_record":{"source":{"id":"2310.00982","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T08:44:13Z","cross_cats_sorted":[],"title_canon_sha256":"e2b675f3535a244cf85421d796c32a7146a9137e8294f26a4245a9d3c85d5485","abstract_canon_sha256":"30f0d2fe354ba930b696713d0c3589504a7b318d8597f057c79490c203853b6b"},"schema_version":"1.0"},"canonical_sha256":"c237f735e43a7cde7ea207372260fcfaba5d257eecd087e823cd377e5a47b848","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:21:41.542775Z","signature_b64":"A2PvWT+xW1yHGjpt7wMTh6W2Vt2s7mGmSduVIANiT7sDu9vc62CBkch9Yz2VvmS6nzRpMtegxRZ0UkdqlqUECg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c237f735e43a7cde7ea207372260fcfaba5d257eecd087e823cd377e5a47b848","last_reissued_at":"2026-07-05T08:21:41.542270Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:21:41.542270Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.00982","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:21:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ozB1QG+4/VxPBu0WbhXFh6sF9VtDO1TTYeq+QXhXj8kgpK+J54fY66s1x6yxqfZZyBtGpIzxV+t2CXDWTRKGCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T21:37:44.772003Z"},"content_sha256":"ebc37139e84f64f53c077cd2e8caba554cc02d0a2333dd72c169c64a41f9b3db","schema_version":"1.0","event_id":"sha256:ebc37139e84f64f53c077cd2e8caba554cc02d0a2333dd72c169c64a41f9b3db"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:YI37ONPEHJ6N47VCA43SEYH47K","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ViPlanner: Visual Semantic Imperative Learning for Local Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fan Yang, Julian Nubert, Marco Hutter, Mayank Mittal, Pascal Roth","submitted_at":"2023-10-02T08:44:13Z","abstract_excerpt":"Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast decision-making. Established approaches have primarily focused on geometric navigation solutions, which work well for structured geometric obstacles but have limitations regarding the semantic interpretation of different terrain types and their affordances. Moreover, these methods fail to identify traversable geometric occurrences, such as stairs. To overcome these issues, we introduce ViPlanner, a learned local path"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.00982","kind":"arxiv","version":3},"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/2310.00982/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":"2026-07-05T08:21:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5Magbvvy2A6xmVNL+yVJ6pSw+CQuUk5GHe7EBGno23J8Lk27RLVvI30HM+g8FuoSzn/Y9nWau9OrnGgRDa82CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T21:37:44.772579Z"},"content_sha256":"93e38973afedb4a992ab8d8dd05f48278053630c3e12efa468765c70184eba4c","schema_version":"1.0","event_id":"sha256:93e38973afedb4a992ab8d8dd05f48278053630c3e12efa468765c70184eba4c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YI37ONPEHJ6N47VCA43SEYH47K/bundle.json","state_url":"https://pith.science/pith/YI37ONPEHJ6N47VCA43SEYH47K/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YI37ONPEHJ6N47VCA43SEYH47K/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":"2026-08-21T21:37:44Z","links":{"resolver":"https://pith.science/pith/YI37ONPEHJ6N47VCA43SEYH47K","bundle":"https://pith.science/pith/YI37ONPEHJ6N47VCA43SEYH47K/bundle.json","state":"https://pith.science/pith/YI37ONPEHJ6N47VCA43SEYH47K/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YI37ONPEHJ6N47VCA43SEYH47K/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:YI37ONPEHJ6N47VCA43SEYH47K","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":"30f0d2fe354ba930b696713d0c3589504a7b318d8597f057c79490c203853b6b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T08:44:13Z","title_canon_sha256":"e2b675f3535a244cf85421d796c32a7146a9137e8294f26a4245a9d3c85d5485"},"schema_version":"1.0","source":{"id":"2310.00982","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.00982","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"arxiv_version","alias_value":"2310.00982v3","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.00982","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_12","alias_value":"YI37ONPEHJ6N","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_16","alias_value":"YI37ONPEHJ6N47VC","created_at":"2026-07-05T08:21:41Z"},{"alias_kind":"pith_short_8","alias_value":"YI37ONPE","created_at":"2026-07-05T08:21:41Z"}],"graph_snapshots":[{"event_id":"sha256:93e38973afedb4a992ab8d8dd05f48278053630c3e12efa468765c70184eba4c","target":"graph","created_at":"2026-07-05T08:21:41Z","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/2310.00982/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast decision-making. Established approaches have primarily focused on geometric navigation solutions, which work well for structured geometric obstacles but have limitations regarding the semantic interpretation of different terrain types and their affordances. Moreover, these methods fail to identify traversable geometric occurrences, such as stairs. To overcome these issues, we introduce ViPlanner, a learned local path","authors_text":"Fan Yang, Julian Nubert, Marco Hutter, Mayank Mittal, Pascal Roth","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T08:44:13Z","title":"ViPlanner: Visual Semantic Imperative Learning for Local Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.00982","kind":"arxiv","version":3},"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:ebc37139e84f64f53c077cd2e8caba554cc02d0a2333dd72c169c64a41f9b3db","target":"record","created_at":"2026-07-05T08:21:41Z","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":"30f0d2fe354ba930b696713d0c3589504a7b318d8597f057c79490c203853b6b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T08:44:13Z","title_canon_sha256":"e2b675f3535a244cf85421d796c32a7146a9137e8294f26a4245a9d3c85d5485"},"schema_version":"1.0","source":{"id":"2310.00982","kind":"arxiv","version":3}},"canonical_sha256":"c237f735e43a7cde7ea207372260fcfaba5d257eecd087e823cd377e5a47b848","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c237f735e43a7cde7ea207372260fcfaba5d257eecd087e823cd377e5a47b848","first_computed_at":"2026-07-05T08:21:41.542270Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:21:41.542270Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"A2PvWT+xW1yHGjpt7wMTh6W2Vt2s7mGmSduVIANiT7sDu9vc62CBkch9Yz2VvmS6nzRpMtegxRZ0UkdqlqUECg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:21:41.542775Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.00982","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ebc37139e84f64f53c077cd2e8caba554cc02d0a2333dd72c169c64a41f9b3db","sha256:93e38973afedb4a992ab8d8dd05f48278053630c3e12efa468765c70184eba4c"],"state_sha256":"965859866406cd44e85674ba48aa0813238033f70b4d46d24d8e2d6d1a6fc33d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tv3xw6Gv+1DdU6BJjh9web0qdMxFacOkbGKdVIlV7f4d2qq/GoW+vkNtjsBCWoVeD0TSBif7xUTVmseeZ35cBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T21:37:44.777733Z","bundle_sha256":"61ae4562f6b0c03e1b5637edbcca261336bd4d05f453f95f874201fa23af0316"}}