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InCVPR, 2018","work_id":"38873ece-16b2-4c6e-9da8-e3065f2e5363","year":2018},{"cited_arxiv_id":"","doi":"","is_internal_anchor":false,"ref_index":2,"title":"Lang, Sourabh V ora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom","work_id":"7b09ba53-a1c3-41b7-a620-141ab87e3c71","year":2020},{"cited_arxiv_id":"","doi":"","is_internal_anchor":false,"ref_index":3,"title":"MonoScene: Monocular 3D semantic scene completion","work_id":"81f3e606-939f-490a-ba91-292d3a456e1c","year":2022},{"cited_arxiv_id":"","doi":"","is_internal_anchor":false,"ref_index":4,"title":"Gauss- Render: Learning 3D occupancy with Gaussian rendering","work_id":"d1420371-0c70-4237-bdfe-45c1688aaea2","year":2025},{"cited_arxiv_id":"2403.11247","doi":"","is_internal_anchor":true,"ref_index":5,"title":"Compact 3d gaussian splatting for dense visual slam","work_id":"d8274008-86ea-42d5-93fa-b5f806a9224a","year":2024}],"snapshot_sha256":"8ea1c05400a4573a82b32347be1afaf18fcd8cd5c82a299b4df637dc74eddc1d"},"source":{"id":"2605.16911","kind":"arxiv","version":1},"verdict":{"created_at":"2026-05-19T21:15:49.584724Z","id":"9c0d051f-2d8c-4af8-b2d0-a43c1ad2c652","model_set":{"reader":"grok-4.3"},"one_line_summary":"VGGT-Occ embeds geometric tokens via PA-DA and uses sequential coarse-to-fine gated fusion to reach 33.00% IoU and 21.08% mIoU on SurroundOcc-nuScenes while using only ~41M parameters in the occupancy head.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"Embedding camera geometry into every attention and fusion step produces more accurate 3D semantic occupancy from multi-view images.","strongest_claim":"By embedding geometric tokens throughout the pipeline with Projection-Aware Deformable Attention that projects 3D offsets and uses the projection Jacobian as an additive bias, plus a view-quality semantic gate and sequential coarse-to-fine gated fusion, VGGT-Occ achieves 33.00% IoU and 21.08% mIoU on SurroundOcc-nuScenes, outperforming prior methods with only ~41M trainable parameters in the occupancy head.","weakest_assumption":"That projecting 3D offsets back to image planes and adding the projection Jacobian as a bias term will reliably suppress unreliable observations, and that the view-quality semantic gate will correctly enforce cross-view consistency without introducing new errors in feature integration."}},"verdict_id":"9c0d051f-2d8c-4af8-b2d0-a43c1ad2c652"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:ba766829ed5da0f2a39f9448671dbc862890c93567a15cdd985a327f57c4811b","target":"record","created_at":"2026-05-20T00:03:29Z","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":"1353cf93b475b7f2ca6d0e31faac0017f55055833e5f8becd4e7bc431ccea2fa","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2026-05-16T09:51:04Z","title_canon_sha256":"77eeea72c02c88cbd3d75aff2d1ddc552ed1cf35d00707d1dd97b03ccaff796a"},"schema_version":"1.0","source":{"id":"2605.16911","kind":"arxiv","version":1}},"canonical_sha256":"d8456880ad12ead9c2bde9d55785d97885049292fb006e9fe678c8865d21f5db","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d8456880ad12ead9c2bde9d55785d97885049292fb006e9fe678c8865d21f5db","first_computed_at":"2026-05-20T00:03:29.789963Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:03:29.789963Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3FqEKD27pgEmM2RmUccQntam83yMGCq627D9TGr2XmUVemnvr8pTwJrn8jHEHQ7vnQbqdX/XJuFjWwii/e3FBw==","signature_status":"signed_v1","signed_at":"2026-05-20T00:03:29.790787Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.16911","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ba766829ed5da0f2a39f9448671dbc862890c93567a15cdd985a327f57c4811b","sha256:2092bc5d9159dade4295e5451f83758e0d6a7eb3a820d1fbc61360bc1a431fa3"],"state_sha256":"caea3bbacdd32cd00f2b2b714d6bd7c0890b8e15dd0351253c09712319cba346"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LFgf6HHZErlLly6iiWag38is9ANyvIISBQ5PPxcDnSWCC4zM+9fv1yhs341QeGSITSNVvY5ySnYPbZU8yERVCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-20T21:32:09.805108Z","bundle_sha256":"b988fe284b6829a5824809a63d222caa08f5412e98d436721f9c0418a6db067a"}}