{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZHWVMAFJD6U7I25OZNBGH4RXHI","short_pith_number":"pith:ZHWVMAFJ","canonical_record":{"source":{"id":"2412.02655","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-03T18:29:37Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3fcd3a98a8bcacb51f8a9db3bf96059760790197cc82f6701f41815d589586ac","abstract_canon_sha256":"b45bb30bcce4cb677c09d285d3100e2a24d38e81717bfdc36beaf65a6328f752"},"schema_version":"1.0"},"canonical_sha256":"c9ed5600a91fa9f46baecb4263f2373a0e347bee6520c7cd2d0c5c26a2b1c7a6","source":{"kind":"arxiv","id":"2412.02655","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.02655","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"arxiv_version","alias_value":"2412.02655v1","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.02655","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZHWVMAFJD6U7","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZHWVMAFJD6U7I25O","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZHWVMAFJ","created_at":"2026-07-05T09:43:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZHWVMAFJD6U7I25OZNBGH4RXHI","target":"record","payload":{"canonical_record":{"source":{"id":"2412.02655","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-03T18:29:37Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3fcd3a98a8bcacb51f8a9db3bf96059760790197cc82f6701f41815d589586ac","abstract_canon_sha256":"b45bb30bcce4cb677c09d285d3100e2a24d38e81717bfdc36beaf65a6328f752"},"schema_version":"1.0"},"canonical_sha256":"c9ed5600a91fa9f46baecb4263f2373a0e347bee6520c7cd2d0c5c26a2b1c7a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:43:53.269984Z","signature_b64":"k0o/CnbzrAKxilXxepepaOv+md7Sx7IIpWVMLYjQPvsHNdxOstFh0kYMZr49T03WueVgAcET6VmeMILkf1XKCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c9ed5600a91fa9f46baecb4263f2373a0e347bee6520c7cd2d0c5c26a2b1c7a6","last_reissued_at":"2026-07-05T09:43:53.269538Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:43:53.269538Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.02655","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":"2026-07-05T09:43:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U+ZLvvx0ZfFZ+FDbeU0FMEbvs+/iiIaRrxdi1Z5ZzrJstnuxungyjX4BfMguzql1sMo96WW5NnT+b4WN41V9BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T19:39:36.363026Z"},"content_sha256":"ad93b0ba0b9a9bcde8aa87a7a6e8295d3b3fd85803fa741e12113cb926946509","schema_version":"1.0","event_id":"sha256:ad93b0ba0b9a9bcde8aa87a7a6e8295d3b3fd85803fa741e12113cb926946509"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZHWVMAFJD6U7I25OZNBGH4RXHI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LLM-Enhanced Path Planning: Safe and Efficient Autonomous Navigation with Instructional Inputs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Aliasghar Arab, Pranav Doma, Xuesu Xiao","submitted_at":"2024-12-03T18:29:37Z","abstract_excerpt":"Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for planning, they can significantly enhance planning efficiency by providing guidance and informing constraints to ensure safety. This paper introduces a planning framework that integrates LLMs with 2D occupancy grid maps and natural language commands to improve spatial reasoning and task execution in resource-limited settings. By decomposing high-level commands a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.02655","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/2412.02655/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":"2026-07-05T09:43:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6hK/fJgpMC9rBRez7TghK5SDWcFXQiqqkIJGCFcbup54tIkKmV7MJ44H6f+516l6ZDxC2xTBgRW8WPGlFCNGDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T19:39:36.363422Z"},"content_sha256":"380964565c6357c94efb33065e2c8d8e2cfef3de08a2c06a0123877eccebb7cd","schema_version":"1.0","event_id":"sha256:380964565c6357c94efb33065e2c8d8e2cfef3de08a2c06a0123877eccebb7cd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/bundle.json","state_url":"https://pith.science/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/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":"2026-08-18T19:39:36Z","links":{"resolver":"https://pith.science/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI","bundle":"https://pith.science/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/bundle.json","state":"https://pith.science/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZHWVMAFJD6U7I25OZNBGH4RXHI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZHWVMAFJD6U7I25OZNBGH4RXHI","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":"b45bb30bcce4cb677c09d285d3100e2a24d38e81717bfdc36beaf65a6328f752","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-03T18:29:37Z","title_canon_sha256":"3fcd3a98a8bcacb51f8a9db3bf96059760790197cc82f6701f41815d589586ac"},"schema_version":"1.0","source":{"id":"2412.02655","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.02655","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"arxiv_version","alias_value":"2412.02655v1","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.02655","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZHWVMAFJD6U7","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZHWVMAFJD6U7I25O","created_at":"2026-07-05T09:43:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZHWVMAFJ","created_at":"2026-07-05T09:43:53Z"}],"graph_snapshots":[{"event_id":"sha256:380964565c6357c94efb33065e2c8d8e2cfef3de08a2c06a0123877eccebb7cd","target":"graph","created_at":"2026-07-05T09:43:53Z","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/2412.02655/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for planning, they can significantly enhance planning efficiency by providing guidance and informing constraints to ensure safety. This paper introduces a planning framework that integrates LLMs with 2D occupancy grid maps and natural language commands to improve spatial reasoning and task execution in resource-limited settings. By decomposing high-level commands a","authors_text":"Aliasghar Arab, Pranav Doma, Xuesu Xiao","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-03T18:29:37Z","title":"LLM-Enhanced Path Planning: Safe and Efficient Autonomous Navigation with Instructional Inputs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.02655","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:ad93b0ba0b9a9bcde8aa87a7a6e8295d3b3fd85803fa741e12113cb926946509","target":"record","created_at":"2026-07-05T09:43:53Z","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":"b45bb30bcce4cb677c09d285d3100e2a24d38e81717bfdc36beaf65a6328f752","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-03T18:29:37Z","title_canon_sha256":"3fcd3a98a8bcacb51f8a9db3bf96059760790197cc82f6701f41815d589586ac"},"schema_version":"1.0","source":{"id":"2412.02655","kind":"arxiv","version":1}},"canonical_sha256":"c9ed5600a91fa9f46baecb4263f2373a0e347bee6520c7cd2d0c5c26a2b1c7a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9ed5600a91fa9f46baecb4263f2373a0e347bee6520c7cd2d0c5c26a2b1c7a6","first_computed_at":"2026-07-05T09:43:53.269538Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:43:53.269538Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k0o/CnbzrAKxilXxepepaOv+md7Sx7IIpWVMLYjQPvsHNdxOstFh0kYMZr49T03WueVgAcET6VmeMILkf1XKCg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:43:53.269984Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.02655","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ad93b0ba0b9a9bcde8aa87a7a6e8295d3b3fd85803fa741e12113cb926946509","sha256:380964565c6357c94efb33065e2c8d8e2cfef3de08a2c06a0123877eccebb7cd"],"state_sha256":"ff71cc5b9d6b07fe602ee0662ba6ce1bfd8114a022dbef3722e92c5f366c03ed"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0NeBzf3KI86IbcRx0gjffkz5PuIOILUehTGi4AdM0Ephobw6fiRzymaLk5zaO3pHucLFPmp4t8GK5orXIucWCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T19:39:36.365848Z","bundle_sha256":"1cab913bea68e244b9bf942a9eaf49dfbc57e7fede2a21646a3a37fa8e5df16a"}}