{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:7RIC46X3CNWCIQCGRU4YF444AB","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":"290b27733d64a03201211ca811390ac5d1c97a777efe22ad30d6463295157eb5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T18:40:52Z","title_canon_sha256":"7a44549320b3fa247aea4c399123beb937c4de14e36d5881a4b6bbc2f2f431cd"},"schema_version":"1.0","source":{"id":"2605.30468","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30468","created_at":"2026-06-01T01:02:55Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30468v1","created_at":"2026-06-01T01:02:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30468","created_at":"2026-06-01T01:02:55Z"},{"alias_kind":"pith_short_12","alias_value":"7RIC46X3CNWC","created_at":"2026-06-01T01:02:55Z"},{"alias_kind":"pith_short_16","alias_value":"7RIC46X3CNWCIQCG","created_at":"2026-06-01T01:02:55Z"},{"alias_kind":"pith_short_8","alias_value":"7RIC46X3","created_at":"2026-06-01T01:02:55Z"}],"graph_snapshots":[{"event_id":"sha256:edfe30a5f96e0d68e580d0c8e49391ff12ddb5243860a4a3e22798378b22c6af","target":"graph","created_at":"2026-06-01T01:02:55Z","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/2605.30468/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a learning-based navigation framework for indoor mobile robots. The proposed method combines a supervised neural global planner, trained from cost-aware A* expert trajectories, with the proposed Learning-Based DWA local planner, which is formulated as discrete candidate selection over the Dynamic Window Approach (DWA) action lattice. For local planning, the policy is first trained by behavior cloning and then refined by Proximal Policy Optimization (PPO) under feasibility-aware masking. The framework is implemented and evaluated in both simulated and real-world indoor envir","authors_text":"Gia-Uy Le, Tien-Dat Nguyen, Tri-Tin Nguyen, Vinh-Hao Nguyen, Vinh Nguyen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T18:40:52Z","title":"Learning-Based Navigation for Indoor Mobile Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30468","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":"sha256:2e306d3ed59b59a04d650b69b76f4e627c25af99edca55189defc22bd7ed5043","target":"record","created_at":"2026-06-01T01:02:55Z","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":"290b27733d64a03201211ca811390ac5d1c97a777efe22ad30d6463295157eb5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T18:40:52Z","title_canon_sha256":"7a44549320b3fa247aea4c399123beb937c4de14e36d5881a4b6bbc2f2f431cd"},"schema_version":"1.0","source":{"id":"2605.30468","kind":"arxiv","version":1}},"canonical_sha256":"fc502e7afb136c2440468d3982f39c007755e39b4a1cbd712016c8ed854daf3a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fc502e7afb136c2440468d3982f39c007755e39b4a1cbd712016c8ed854daf3a","first_computed_at":"2026-06-01T01:02:55.904609Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:02:55.904609Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/Br0MGG4ple7Ina7UJacxcSvLZ2hFUS4WlXcZiA6MSvilCxiNLisw0Tv78SyAO1cD8HiBkHSBovqvXcHsksjCg==","signature_status":"signed_v1","signed_at":"2026-06-01T01:02:55.905519Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.30468","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2e306d3ed59b59a04d650b69b76f4e627c25af99edca55189defc22bd7ed5043","sha256:edfe30a5f96e0d68e580d0c8e49391ff12ddb5243860a4a3e22798378b22c6af"],"state_sha256":"a5154261570629c0a18bcbfd074b175f4efa93bb4566a8160b2da58791e49147"}