{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:A466GFF3EQHO3ZRO7V6VUR3YMM","short_pith_number":"pith:A466GFF3","canonical_record":{"source":{"id":"2606.23113","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-22T09:57:55Z","cross_cats_sorted":[],"title_canon_sha256":"685365495aba82dfc2d1e9b9159904ac5c1d167c24f1115b0f06e4e8bf373f34","abstract_canon_sha256":"5a9faeee2903be55081860a2f5e3b3dbda266a4ec934ce01f97ccc484b126879"},"schema_version":"1.0"},"canonical_sha256":"073de314bb240eede62efd7d5a477863130e279e589c5194e0f957142ae2520c","source":{"kind":"arxiv","id":"2606.23113","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23113","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23113v1","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23113","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_12","alias_value":"A466GFF3EQHO","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_16","alias_value":"A466GFF3EQHO3ZRO","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_8","alias_value":"A466GFF3","created_at":"2026-06-23T03:14:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:A466GFF3EQHO3ZRO7V6VUR3YMM","target":"record","payload":{"canonical_record":{"source":{"id":"2606.23113","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-22T09:57:55Z","cross_cats_sorted":[],"title_canon_sha256":"685365495aba82dfc2d1e9b9159904ac5c1d167c24f1115b0f06e4e8bf373f34","abstract_canon_sha256":"5a9faeee2903be55081860a2f5e3b3dbda266a4ec934ce01f97ccc484b126879"},"schema_version":"1.0"},"canonical_sha256":"073de314bb240eede62efd7d5a477863130e279e589c5194e0f957142ae2520c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T03:14:10.400732Z","signature_b64":"CYKwwLmwWYhx7QQhNEawrcRErvncfqEtPX78blelrUU1vhesyF7Mah/r2x5EL4m3FLY6XvPosFZ9/Jlew2xxBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"073de314bb240eede62efd7d5a477863130e279e589c5194e0f957142ae2520c","last_reissued_at":"2026-06-23T03:14:10.400287Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T03:14:10.400287Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.23113","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":"2026-06-23T03:14:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AT3dA6Bh+EpFCQXFgYZpOGnYex0RfATqkZgSpfaxga/lLmQedWN8W358Q/xVyxUV7s+Yjp1LyG7A+08smvCBBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:29.530992Z"},"content_sha256":"6b5b30a6e6551b44a2e43ee411b07160f0d99469a3815cf397c517dee30fc20e","schema_version":"1.0","event_id":"sha256:6b5b30a6e6551b44a2e43ee411b07160f0d99469a3815cf397c517dee30fc20e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:A466GFF3EQHO3ZRO7V6VUR3YMM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Technical Report for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Pretraining-Diverse Ensemble of Foundation Vision Encoders for Robust Outdoor Scene Understanding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Boyan Wang, Nan Pu, Shaofei Huang, Tianrui Hui, Wenjing Li, Yongxi Huang, Zhun Zhong","submitted_at":"2026-06-22T09:57:55Z","abstract_excerpt":"This report presents our solution for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge, which requires parsing unstructured outdoor scenes from four camera platforms into 56 fine-grained categories. Our approach pairs foundation vision encoders (including DINOv3, SigLIP2, and InternImage) with a Mask2Former decoder, and trains them with a strong recipe including long training schedules, exponential moving average, a larger crop size, and multi-scale plus flip test-time augmentation. The three encoders, chosen for their complementary pretraining objectives, are combined into "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23113","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/2606.23113/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":"2026-06-23T03:14:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3hKoAEp7mJKPtsbctqiCoZMzYPEAR9rTTd/Bp8WPesGYKExMvBlpQGPq98xf+HOD7+2bxDoBlzcDWFmoNkaNAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:29.531493Z"},"content_sha256":"722043c549a543aa9bb0ef311d5cb0b2d5a76d2e8a4a776f27ad81967d51dc46","schema_version":"1.0","event_id":"sha256:722043c549a543aa9bb0ef311d5cb0b2d5a76d2e8a4a776f27ad81967d51dc46"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/bundle.json","state_url":"https://pith.science/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/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":"2026-07-06T20:57:29Z","links":{"resolver":"https://pith.science/pith/A466GFF3EQHO3ZRO7V6VUR3YMM","bundle":"https://pith.science/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/bundle.json","state":"https://pith.science/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/A466GFF3EQHO3ZRO7V6VUR3YMM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:A466GFF3EQHO3ZRO7V6VUR3YMM","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":"5a9faeee2903be55081860a2f5e3b3dbda266a4ec934ce01f97ccc484b126879","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-22T09:57:55Z","title_canon_sha256":"685365495aba82dfc2d1e9b9159904ac5c1d167c24f1115b0f06e4e8bf373f34"},"schema_version":"1.0","source":{"id":"2606.23113","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23113","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23113v1","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23113","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_12","alias_value":"A466GFF3EQHO","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_16","alias_value":"A466GFF3EQHO3ZRO","created_at":"2026-06-23T03:14:10Z"},{"alias_kind":"pith_short_8","alias_value":"A466GFF3","created_at":"2026-06-23T03:14:10Z"}],"graph_snapshots":[{"event_id":"sha256:722043c549a543aa9bb0ef311d5cb0b2d5a76d2e8a4a776f27ad81967d51dc46","target":"graph","created_at":"2026-06-23T03:14:10Z","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/2606.23113/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This report presents our solution for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge, which requires parsing unstructured outdoor scenes from four camera platforms into 56 fine-grained categories. Our approach pairs foundation vision encoders (including DINOv3, SigLIP2, and InternImage) with a Mask2Former decoder, and trains them with a strong recipe including long training schedules, exponential moving average, a larger crop size, and multi-scale plus flip test-time augmentation. The three encoders, chosen for their complementary pretraining objectives, are combined into ","authors_text":"Boyan Wang, Nan Pu, Shaofei Huang, Tianrui Hui, Wenjing Li, Yongxi Huang, Zhun Zhong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-22T09:57:55Z","title":"Technical Report for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Pretraining-Diverse Ensemble of Foundation Vision Encoders for Robust Outdoor Scene Understanding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23113","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":"sha256:6b5b30a6e6551b44a2e43ee411b07160f0d99469a3815cf397c517dee30fc20e","target":"record","created_at":"2026-06-23T03:14:10Z","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":"5a9faeee2903be55081860a2f5e3b3dbda266a4ec934ce01f97ccc484b126879","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-22T09:57:55Z","title_canon_sha256":"685365495aba82dfc2d1e9b9159904ac5c1d167c24f1115b0f06e4e8bf373f34"},"schema_version":"1.0","source":{"id":"2606.23113","kind":"arxiv","version":1}},"canonical_sha256":"073de314bb240eede62efd7d5a477863130e279e589c5194e0f957142ae2520c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"073de314bb240eede62efd7d5a477863130e279e589c5194e0f957142ae2520c","first_computed_at":"2026-06-23T03:14:10.400287Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T03:14:10.400287Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CYKwwLmwWYhx7QQhNEawrcRErvncfqEtPX78blelrUU1vhesyF7Mah/r2x5EL4m3FLY6XvPosFZ9/Jlew2xxBA==","signature_status":"signed_v1","signed_at":"2026-06-23T03:14:10.400732Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.23113","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6b5b30a6e6551b44a2e43ee411b07160f0d99469a3815cf397c517dee30fc20e","sha256:722043c549a543aa9bb0ef311d5cb0b2d5a76d2e8a4a776f27ad81967d51dc46"],"state_sha256":"1a77f2cdfd78c86975110b50f74920b97a0880cb8854e72065953fe9b5931020"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kVCcYSQtvrDD0N/Tv8Q5U+JEfJ0QXdRI/vuMfIabofmihAxPd9ommVTl84UIQNH4MPcstJqNCbsNsGJ7Gl67Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T20:57:29.533514Z","bundle_sha256":"d45466c470000cec801525bdec23ae1e66bdc9feacb25c71e50a6e5556f54d82"}}