{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:3JYYW54DCKJOZBVODI2JW6C7NQ","short_pith_number":"pith:3JYYW54D","canonical_record":{"source":{"id":"2507.20217","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-27T10:47:00Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"2f9d6a9f9840618a1b51e75dee55de0fa4e3a559ab43b0d8dafae612838c48e9","abstract_canon_sha256":"21fd5f233830847f994566a5cc8d6c24f3a16f11210e9fb43fae660b5de7081d"},"schema_version":"1.0"},"canonical_sha256":"da718b77831292ec86ae1a349b785f6c207e8d69b0766859a60237ba5648218b","source":{"kind":"arxiv","id":"2507.20217","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.20217","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"arxiv_version","alias_value":"2507.20217v2","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.20217","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_12","alias_value":"3JYYW54DCKJO","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_16","alias_value":"3JYYW54DCKJOZBVO","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_8","alias_value":"3JYYW54D","created_at":"2026-07-05T11:44:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:3JYYW54DCKJOZBVODI2JW6C7NQ","target":"record","payload":{"canonical_record":{"source":{"id":"2507.20217","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-27T10:47:00Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"2f9d6a9f9840618a1b51e75dee55de0fa4e3a559ab43b0d8dafae612838c48e9","abstract_canon_sha256":"21fd5f233830847f994566a5cc8d6c24f3a16f11210e9fb43fae660b5de7081d"},"schema_version":"1.0"},"canonical_sha256":"da718b77831292ec86ae1a349b785f6c207e8d69b0766859a60237ba5648218b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:44:53.537362Z","signature_b64":"bn2RAY4OV1bpDx64uTfTKeEmwEsq+iYP7zq9HfVdPYVuwBtW6tQFoXRUAhCNM6WxN3xA9hyIjyMbiw/niWcBDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"da718b77831292ec86ae1a349b785f6c207e8d69b0766859a60237ba5648218b","last_reissued_at":"2026-07-05T11:44:53.536906Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:44:53.536906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.20217","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:44:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EuH1PuK56arohqu8W7nupaEtYyzHPQUDcfKbrSBO/ZqNdC3DkzpQOqChAxs3yGHFAJBlMw1ffSAdFLspR8FUDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:36:45.484881Z"},"content_sha256":"e1e85b62f40c739b005d21c0da5d83668aa543814668cde112624fde3c557498","schema_version":"1.0","event_id":"sha256:e1e85b62f40c739b005d21c0da5d83668aa543814668cde112624fde3c557498"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:3JYYW54DCKJOZBVODI2JW6C7NQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Botuo Jiang, Gang Han, Guan Huang, Hao Cheng, Haoyu Wang, Jiahang Cao, Jiahao Ma, Jian Tang, Jiaru Zhong, Jiaxu Wang, Jingkai Sun, Pihai Sun, Qiang Zhang, Shuai Shi, Wei Cui, Wenkang Qin, Wen Zhao, Yang Wang, Yijie Guo, Zhang Zhang, Zheng Zhu, Zhichao Liu","submitted_at":"2025-07-27T10:47:00Z","abstract_excerpt":"Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become widely recognized as particularly suitable for humanoid robots, as it provides both rich semantic and 3D geometric information essential for comprehensive environmental understanding. In this work, we present Humanoid Occupancy, a generalized multimodal occupancy perception system that integrates hardware and software components, data acquisition devices, and a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.20217","kind":"arxiv","version":2},"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/2507.20217/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":"2026-07-05T11:44:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U+oMK6xm2BG1j6eFzBTLoyLE0QxNDmMZN4AD2e70ZdLCb9Qxy7+DRZv6eK9dgFsSqt+OuHQiWSrkgVa9P6rCDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:36:45.485841Z"},"content_sha256":"7b247f0478653cd2d7460ab89c564f08933dd94c67ac8953269e0d323d103776","schema_version":"1.0","event_id":"sha256:7b247f0478653cd2d7460ab89c564f08933dd94c67ac8953269e0d323d103776"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/bundle.json","state_url":"https://pith.science/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/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":"2026-08-03T16:36:45Z","links":{"resolver":"https://pith.science/pith/3JYYW54DCKJOZBVODI2JW6C7NQ","bundle":"https://pith.science/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/bundle.json","state":"https://pith.science/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3JYYW54DCKJOZBVODI2JW6C7NQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:3JYYW54DCKJOZBVODI2JW6C7NQ","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":"21fd5f233830847f994566a5cc8d6c24f3a16f11210e9fb43fae660b5de7081d","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-27T10:47:00Z","title_canon_sha256":"2f9d6a9f9840618a1b51e75dee55de0fa4e3a559ab43b0d8dafae612838c48e9"},"schema_version":"1.0","source":{"id":"2507.20217","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.20217","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"arxiv_version","alias_value":"2507.20217v2","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.20217","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_12","alias_value":"3JYYW54DCKJO","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_16","alias_value":"3JYYW54DCKJOZBVO","created_at":"2026-07-05T11:44:53Z"},{"alias_kind":"pith_short_8","alias_value":"3JYYW54D","created_at":"2026-07-05T11:44:53Z"}],"graph_snapshots":[{"event_id":"sha256:7b247f0478653cd2d7460ab89c564f08933dd94c67ac8953269e0d323d103776","target":"graph","created_at":"2026-07-05T11:44:53Z","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/2507.20217/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become widely recognized as particularly suitable for humanoid robots, as it provides both rich semantic and 3D geometric information essential for comprehensive environmental understanding. In this work, we present Humanoid Occupancy, a generalized multimodal occupancy perception system that integrates hardware and software components, data acquisition devices, and a","authors_text":"Botuo Jiang, Gang Han, Guan Huang, Hao Cheng, Haoyu Wang, Jiahang Cao, Jiahao Ma, Jian Tang, Jiaru Zhong, Jiaxu Wang, Jingkai Sun, Pihai Sun, Qiang Zhang, Shuai Shi, Wei Cui, Wenkang Qin, Wen Zhao, Yang Wang, Yijie Guo, Zhang Zhang, Zheng Zhu, Zhichao Liu","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-27T10:47:00Z","title":"Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.20217","kind":"arxiv","version":2},"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:e1e85b62f40c739b005d21c0da5d83668aa543814668cde112624fde3c557498","target":"record","created_at":"2026-07-05T11:44:53Z","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":"21fd5f233830847f994566a5cc8d6c24f3a16f11210e9fb43fae660b5de7081d","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-27T10:47:00Z","title_canon_sha256":"2f9d6a9f9840618a1b51e75dee55de0fa4e3a559ab43b0d8dafae612838c48e9"},"schema_version":"1.0","source":{"id":"2507.20217","kind":"arxiv","version":2}},"canonical_sha256":"da718b77831292ec86ae1a349b785f6c207e8d69b0766859a60237ba5648218b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"da718b77831292ec86ae1a349b785f6c207e8d69b0766859a60237ba5648218b","first_computed_at":"2026-07-05T11:44:53.536906Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:44:53.536906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bn2RAY4OV1bpDx64uTfTKeEmwEsq+iYP7zq9HfVdPYVuwBtW6tQFoXRUAhCNM6WxN3xA9hyIjyMbiw/niWcBDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:44:53.537362Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.20217","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e1e85b62f40c739b005d21c0da5d83668aa543814668cde112624fde3c557498","sha256:7b247f0478653cd2d7460ab89c564f08933dd94c67ac8953269e0d323d103776"],"state_sha256":"028955d2a679874fe930eefe0d1beae4cd5e9d8fd19167c213a0217213612200"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KOBCGGedQknGIn0DwSaQZsoSoUys5ns2HQrr7jK3u9NneRuRWuANojTUy5QhmZOtJ+AdPQZ7u8aFySVGGKPbDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:36:45.492765Z","bundle_sha256":"8cf62da39445a9798c7a5173d9c12476f04afe4cd59674b09f967d94e7e068d2"}}