{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:ZDLF7I2INCMR2RYWMR7IXK4L4P","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":"adc5851d78fcde64ebad54a30ae8db78f5a80444ab8faae0094894a096b35c17","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-09-17T08:23:50Z","title_canon_sha256":"ba1ba38080dac35882f2bfb7a82c5e5f61a4154a80e05797abe8cef40d24cf0b"},"schema_version":"1.0","source":{"id":"2009.08140","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.08140","created_at":"2026-07-05T01:36:10Z"},{"alias_kind":"arxiv_version","alias_value":"2009.08140v1","created_at":"2026-07-05T01:36:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.08140","created_at":"2026-07-05T01:36:10Z"},{"alias_kind":"pith_short_12","alias_value":"ZDLF7I2INCMR","created_at":"2026-07-05T01:36:10Z"},{"alias_kind":"pith_short_16","alias_value":"ZDLF7I2INCMR2RYW","created_at":"2026-07-05T01:36:10Z"},{"alias_kind":"pith_short_8","alias_value":"ZDLF7I2I","created_at":"2026-07-05T01:36:10Z"}],"graph_snapshots":[{"event_id":"sha256:eb58265b532d71609e796b7177e9298d3a0b288bfc4e37b88b156fbbaaaa3064","target":"graph","created_at":"2026-07-05T01:36:10Z","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/2009.08140/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we focus on the problem of learning an optimal policy for Active Visual Search (AVS) of objects in known indoor environments with an online setup. Our POMP method uses as input the current pose of an agent (e.g. a robot) and a RGB-D frame. The task is to plan the next move that brings the agent closer to the target object. We model this problem as a Partially Observable Markov Decision Process solved by a Monte-Carlo planning approach. This allows us to make decisions on the next moves by iterating over the known scenario at hand, exploring the environment and searching for the o","authors_text":"Alberto Castellini, Alessandro Farinelli, Alessio Del Bue, Francesco Giuliari, Francesco Setti, Marco Cristani, Riccardo Berra, Yiming Wang","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-09-17T08:23:50Z","title":"POMP: Pomcp-based Online Motion Planning for active visual search in indoor environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.08140","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":"sha256:1edace2113c84421aeb5dc42276501e92870d539ef8e0766df322a41269c57b4","target":"record","created_at":"2026-07-05T01:36:10Z","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":"adc5851d78fcde64ebad54a30ae8db78f5a80444ab8faae0094894a096b35c17","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-09-17T08:23:50Z","title_canon_sha256":"ba1ba38080dac35882f2bfb7a82c5e5f61a4154a80e05797abe8cef40d24cf0b"},"schema_version":"1.0","source":{"id":"2009.08140","kind":"arxiv","version":1}},"canonical_sha256":"c8d65fa34868991d4716647e8bab8be3df0caa886043af263cc72c87be901552","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c8d65fa34868991d4716647e8bab8be3df0caa886043af263cc72c87be901552","first_computed_at":"2026-07-05T01:36:10.886191Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:36:10.886191Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Dq0c8f0lPqd8oxmbFG9XWr4Gt51F8VFV+FSstbRfBhnBhoshdlfPUs7wSrFxuMr+3tzcxKOxvxsJBwW/Hha+Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:36:10.886596Z","signed_message":"canonical_sha256_bytes"},"source_id":"2009.08140","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1edace2113c84421aeb5dc42276501e92870d539ef8e0766df322a41269c57b4","sha256:eb58265b532d71609e796b7177e9298d3a0b288bfc4e37b88b156fbbaaaa3064"],"state_sha256":"1008ac2b08589df15d62bc8ed3eb0062a7166943704f9e0b7871b899857a592e"}