{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:3UTPLA6DE64E6FU3BII3RXW3UN","short_pith_number":"pith:3UTPLA6D","canonical_record":{"source":{"id":"2112.00380","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T10:00:37Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"0389399fc9fc7d0bb4b614ee4804fd4a4080a61baa7a272125a7673a572aee39","abstract_canon_sha256":"180f4f316b73aafa6911128728b96e44fd3595fcc962064c6b74746eeaf07429"},"schema_version":"1.0"},"canonical_sha256":"dd26f583c327b84f169b0a11b8dedba37cef729d2c02c70ce122ce68525433b5","source":{"kind":"arxiv","id":"2112.00380","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.00380","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"arxiv_version","alias_value":"2112.00380v1","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.00380","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_12","alias_value":"3UTPLA6DE64E","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_16","alias_value":"3UTPLA6DE64E6FU3","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_8","alias_value":"3UTPLA6D","created_at":"2026-07-05T03:36:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:3UTPLA6DE64E6FU3BII3RXW3UN","target":"record","payload":{"canonical_record":{"source":{"id":"2112.00380","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T10:00:37Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"0389399fc9fc7d0bb4b614ee4804fd4a4080a61baa7a272125a7673a572aee39","abstract_canon_sha256":"180f4f316b73aafa6911128728b96e44fd3595fcc962064c6b74746eeaf07429"},"schema_version":"1.0"},"canonical_sha256":"dd26f583c327b84f169b0a11b8dedba37cef729d2c02c70ce122ce68525433b5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:36:45.807371Z","signature_b64":"NyxWjOJfRXeMyDlklI++IPtwvr29ybsFwAafSJp31ueHrRyfo8WHcwvxhamwqcid+S7gZWXxVqUsapyLaki5BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dd26f583c327b84f169b0a11b8dedba37cef729d2c02c70ce122ce68525433b5","last_reissued_at":"2026-07-05T03:36:45.806944Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:36:45.806944Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.00380","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":"2026-07-05T03:36:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PEJUSfBpptBIfyIiMfA4FoyTxEel2J1XP12ySnmjTCoIfX04YuURFI1l7Jo/YINaRx5OmNN7e5F5RFXUJlwnBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:28:50.799575Z"},"content_sha256":"6d001359e3b1b4ad9b0f1bee3acb53077ac01561746f9c9ea206c13395f87ded","schema_version":"1.0","event_id":"sha256:6d001359e3b1b4ad9b0f1bee3acb53077ac01561746f9c9ea206c13395f87ded"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:3UTPLA6DE64E6FU3BII3RXW3UN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Deep Measurement Updates for Bayes Filters","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Johannes Pankert, Lorenz Wellhausen, Marco Hutter, Maria Vittoria Minniti","submitted_at":"2021-12-01T10:00:37Z","abstract_excerpt":"Measurement update rules for Bayes filters often contain hand-crafted heuristics to compute observation probabilities for high-dimensional sensor data, like images. In this work, we propose the novel approach Deep Measurement Update (DMU) as a general update rule for a wide range of systems. DMU has a conditional encoder-decoder neural network structure to process depth images as raw inputs. Even though the network is trained only on synthetic data, the model shows good performance at evaluation time on real-world data. With our proposed training scheme primed data training , we demonstrate ho"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.00380","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/2112.00380/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":"2026-07-05T03:36:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JCCdGk8thKHxPKkB/OQpTm6CKyf97Pg8vbyf30xVUrrxOHkrisAWcawXB99tgp9khGjQnsdvMFaIYlxzxDmbDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:28:50.800064Z"},"content_sha256":"2d2356cad1b36519c972e985f4eed62a2a0cec9817333a3f43f8244653fbca83","schema_version":"1.0","event_id":"sha256:2d2356cad1b36519c972e985f4eed62a2a0cec9817333a3f43f8244653fbca83"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3UTPLA6DE64E6FU3BII3RXW3UN/bundle.json","state_url":"https://pith.science/pith/3UTPLA6DE64E6FU3BII3RXW3UN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3UTPLA6DE64E6FU3BII3RXW3UN/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":"2026-08-20T13:28:50Z","links":{"resolver":"https://pith.science/pith/3UTPLA6DE64E6FU3BII3RXW3UN","bundle":"https://pith.science/pith/3UTPLA6DE64E6FU3BII3RXW3UN/bundle.json","state":"https://pith.science/pith/3UTPLA6DE64E6FU3BII3RXW3UN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3UTPLA6DE64E6FU3BII3RXW3UN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:3UTPLA6DE64E6FU3BII3RXW3UN","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":"180f4f316b73aafa6911128728b96e44fd3595fcc962064c6b74746eeaf07429","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T10:00:37Z","title_canon_sha256":"0389399fc9fc7d0bb4b614ee4804fd4a4080a61baa7a272125a7673a572aee39"},"schema_version":"1.0","source":{"id":"2112.00380","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.00380","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"arxiv_version","alias_value":"2112.00380v1","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.00380","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_12","alias_value":"3UTPLA6DE64E","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_16","alias_value":"3UTPLA6DE64E6FU3","created_at":"2026-07-05T03:36:45Z"},{"alias_kind":"pith_short_8","alias_value":"3UTPLA6D","created_at":"2026-07-05T03:36:45Z"}],"graph_snapshots":[{"event_id":"sha256:2d2356cad1b36519c972e985f4eed62a2a0cec9817333a3f43f8244653fbca83","target":"graph","created_at":"2026-07-05T03:36:45Z","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/2112.00380/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Measurement update rules for Bayes filters often contain hand-crafted heuristics to compute observation probabilities for high-dimensional sensor data, like images. In this work, we propose the novel approach Deep Measurement Update (DMU) as a general update rule for a wide range of systems. DMU has a conditional encoder-decoder neural network structure to process depth images as raw inputs. Even though the network is trained only on synthetic data, the model shows good performance at evaluation time on real-world data. With our proposed training scheme primed data training , we demonstrate ho","authors_text":"Johannes Pankert, Lorenz Wellhausen, Marco Hutter, Maria Vittoria Minniti","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T10:00:37Z","title":"Deep Measurement Updates for Bayes Filters"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.00380","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":"sha256:6d001359e3b1b4ad9b0f1bee3acb53077ac01561746f9c9ea206c13395f87ded","target":"record","created_at":"2026-07-05T03:36:45Z","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":"180f4f316b73aafa6911128728b96e44fd3595fcc962064c6b74746eeaf07429","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T10:00:37Z","title_canon_sha256":"0389399fc9fc7d0bb4b614ee4804fd4a4080a61baa7a272125a7673a572aee39"},"schema_version":"1.0","source":{"id":"2112.00380","kind":"arxiv","version":1}},"canonical_sha256":"dd26f583c327b84f169b0a11b8dedba37cef729d2c02c70ce122ce68525433b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dd26f583c327b84f169b0a11b8dedba37cef729d2c02c70ce122ce68525433b5","first_computed_at":"2026-07-05T03:36:45.806944Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:36:45.806944Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NyxWjOJfRXeMyDlklI++IPtwvr29ybsFwAafSJp31ueHrRyfo8WHcwvxhamwqcid+S7gZWXxVqUsapyLaki5BA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:36:45.807371Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.00380","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6d001359e3b1b4ad9b0f1bee3acb53077ac01561746f9c9ea206c13395f87ded","sha256:2d2356cad1b36519c972e985f4eed62a2a0cec9817333a3f43f8244653fbca83"],"state_sha256":"31429beda756c6de7e04e727750ed9bb8bc609a9dbbbcb3b035417ec46f11fc0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2ejtCiV3hN8abYamuOIYs+yPCmrL5lmjE3REaIZVMIGH4GyHcWZiCaRvt+k85/vTzEsEeMEV6ihsFpZu+Q++Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T13:28:50.803852Z","bundle_sha256":"a7509a88cc39dc83b5346e41321c0b9cfdb8847e3c03725907c1f75bb4409a72"}}