{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:25G62H7E2D4IS6FGAVJ2XQBIQC","short_pith_number":"pith:25G62H7E","canonical_record":{"source":{"id":"2507.18317","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T11:37:44Z","cross_cats_sorted":[],"title_canon_sha256":"e085428f74ec1d58c709d4ee923488961c833eec32d39f11941422d6396ca59f","abstract_canon_sha256":"6bb9f1ef02acd71315905ebf490e82d6f4bd043de7ae712b5dcd34903594c675"},"schema_version":"1.0"},"canonical_sha256":"d74ded1fe4d0f88978a60553abc02880b75397b81e08f5fd9b2ad3850e1875f2","source":{"kind":"arxiv","id":"2507.18317","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18317","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18317v1","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18317","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_12","alias_value":"25G62H7E2D4I","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_16","alias_value":"25G62H7E2D4IS6FG","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_8","alias_value":"25G62H7E","created_at":"2026-07-05T11:42:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:25G62H7E2D4IS6FGAVJ2XQBIQC","target":"record","payload":{"canonical_record":{"source":{"id":"2507.18317","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T11:37:44Z","cross_cats_sorted":[],"title_canon_sha256":"e085428f74ec1d58c709d4ee923488961c833eec32d39f11941422d6396ca59f","abstract_canon_sha256":"6bb9f1ef02acd71315905ebf490e82d6f4bd043de7ae712b5dcd34903594c675"},"schema_version":"1.0"},"canonical_sha256":"d74ded1fe4d0f88978a60553abc02880b75397b81e08f5fd9b2ad3850e1875f2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:42:45.980969Z","signature_b64":"22sCECdegCFuMiGa1uglbFaz9ySGkiFLZFKUh1l2C+iGDQVV2C8r7fFMsFnCu1wEiQkmc6ICP8DRrx7p6zp2BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d74ded1fe4d0f88978a60553abc02880b75397b81e08f5fd9b2ad3850e1875f2","last_reissued_at":"2026-07-05T11:42:45.980536Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:42:45.980536Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.18317","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":"2026-07-05T11:42:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"b28kDANjjbTDHNU+72ZTjV06G2+pR9Bqmi/8H5tCmq+iHx12VHGdNAtXSu4DyaRsg0wo7UE43k2B8fu3+Do1Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:29:06.754314Z"},"content_sha256":"ed1e98cab25a772d6b5cf7ad32397ca1ec9530dc4ea4eed8c3e3cdd201249a4e","schema_version":"1.0","event_id":"sha256:ed1e98cab25a772d6b5cf7ad32397ca1ec9530dc4ea4eed8c3e3cdd201249a4e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:25G62H7E2D4IS6FGAVJ2XQBIQC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenglong Qian, Jiming Chen, Liang Li, Xiufang Shi, Yang Xu","submitted_at":"2025-07-24T11:37:44Z","abstract_excerpt":"In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the performance of single-sensor systems like LiDAR or GPS, compromising the overall stability and safety of autonomous robots. To address these challenges, we propose AF-RLIO: an adaptive fusion approach that integrates 4D millimeter-wave radar, LiDAR, inertial measurement unit (IMU), and GPS to leverage the complementary strengths of these sensors for robust odometry es"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18317","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/2507.18317/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":"2026-07-05T11:42:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mt2RHy3hEc28nE5RK7gB9BcQ+hpc4R5pREDUgKo0bKBUFVgr1q2ZqZ7TN/4C3qsMlZ/Xw29LjZpEbx5ZbRkCCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:29:06.755231Z"},"content_sha256":"613756be7b69214fa2adc8bf6f7253d52ee3547d91d8dd18a285c6adb04d7edb","schema_version":"1.0","event_id":"sha256:613756be7b69214fa2adc8bf6f7253d52ee3547d91d8dd18a285c6adb04d7edb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/bundle.json","state_url":"https://pith.science/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/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":"2026-08-09T19:29:06Z","links":{"resolver":"https://pith.science/pith/25G62H7E2D4IS6FGAVJ2XQBIQC","bundle":"https://pith.science/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/bundle.json","state":"https://pith.science/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/25G62H7E2D4IS6FGAVJ2XQBIQC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:25G62H7E2D4IS6FGAVJ2XQBIQC","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":"6bb9f1ef02acd71315905ebf490e82d6f4bd043de7ae712b5dcd34903594c675","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T11:37:44Z","title_canon_sha256":"e085428f74ec1d58c709d4ee923488961c833eec32d39f11941422d6396ca59f"},"schema_version":"1.0","source":{"id":"2507.18317","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18317","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18317v1","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18317","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_12","alias_value":"25G62H7E2D4I","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_16","alias_value":"25G62H7E2D4IS6FG","created_at":"2026-07-05T11:42:45Z"},{"alias_kind":"pith_short_8","alias_value":"25G62H7E","created_at":"2026-07-05T11:42:45Z"}],"graph_snapshots":[{"event_id":"sha256:613756be7b69214fa2adc8bf6f7253d52ee3547d91d8dd18a285c6adb04d7edb","target":"graph","created_at":"2026-07-05T11:42:45Z","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/2507.18317/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the performance of single-sensor systems like LiDAR or GPS, compromising the overall stability and safety of autonomous robots. To address these challenges, we propose AF-RLIO: an adaptive fusion approach that integrates 4D millimeter-wave radar, LiDAR, inertial measurement unit (IMU), and GPS to leverage the complementary strengths of these sensors for robust odometry es","authors_text":"Chenglong Qian, Jiming Chen, Liang Li, Xiufang Shi, Yang Xu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T11:37:44Z","title":"AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18317","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:ed1e98cab25a772d6b5cf7ad32397ca1ec9530dc4ea4eed8c3e3cdd201249a4e","target":"record","created_at":"2026-07-05T11:42:45Z","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":"6bb9f1ef02acd71315905ebf490e82d6f4bd043de7ae712b5dcd34903594c675","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T11:37:44Z","title_canon_sha256":"e085428f74ec1d58c709d4ee923488961c833eec32d39f11941422d6396ca59f"},"schema_version":"1.0","source":{"id":"2507.18317","kind":"arxiv","version":1}},"canonical_sha256":"d74ded1fe4d0f88978a60553abc02880b75397b81e08f5fd9b2ad3850e1875f2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d74ded1fe4d0f88978a60553abc02880b75397b81e08f5fd9b2ad3850e1875f2","first_computed_at":"2026-07-05T11:42:45.980536Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:42:45.980536Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"22sCECdegCFuMiGa1uglbFaz9ySGkiFLZFKUh1l2C+iGDQVV2C8r7fFMsFnCu1wEiQkmc6ICP8DRrx7p6zp2BA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:42:45.980969Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.18317","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed1e98cab25a772d6b5cf7ad32397ca1ec9530dc4ea4eed8c3e3cdd201249a4e","sha256:613756be7b69214fa2adc8bf6f7253d52ee3547d91d8dd18a285c6adb04d7edb"],"state_sha256":"415849037932601113f72a2d601e08d6aedf1fc1b5c7eb961ea9e0f6b5cb5fed"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wgH8smIH1fxBtJQp09xu66keC4f4IV5DdxKgmYfdrz/qWEu+RpAAa7Ap2HPBiUgBBAAJSfr6MnqruqLtQz4dAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T19:29:06.764425Z","bundle_sha256":"f725650c7770015ec0e7e58f900279552f84a1bc3d41dc6660ec8375ea900b8d"}}