{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:D3AMSB74UABSPY3JI6DHJIA546","short_pith_number":"pith:D3AMSB74","canonical_record":{"source":{"id":"2506.05473","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-06-05T18:00:11Z","cross_cats_sorted":[],"title_canon_sha256":"398a796f3df63c2dc03b396e88b0b264f86cae6e2858c3e50452015f9d01bf35","abstract_canon_sha256":"e423c745bb45d0f4aa27d15749d22db7e7a97e6b95321f961a40627c217362cf"},"schema_version":"1.0"},"canonical_sha256":"1ec0c907fca00327e369478674a01de79ed3861e52d6b02d494f6293ee82666a","source":{"kind":"arxiv","id":"2506.05473","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.05473","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"arxiv_version","alias_value":"2506.05473v1","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.05473","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_12","alias_value":"D3AMSB74UABS","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_16","alias_value":"D3AMSB74UABSPY3J","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_8","alias_value":"D3AMSB74","created_at":"2026-07-05T11:17:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:D3AMSB74UABSPY3JI6DHJIA546","target":"record","payload":{"canonical_record":{"source":{"id":"2506.05473","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-06-05T18:00:11Z","cross_cats_sorted":[],"title_canon_sha256":"398a796f3df63c2dc03b396e88b0b264f86cae6e2858c3e50452015f9d01bf35","abstract_canon_sha256":"e423c745bb45d0f4aa27d15749d22db7e7a97e6b95321f961a40627c217362cf"},"schema_version":"1.0"},"canonical_sha256":"1ec0c907fca00327e369478674a01de79ed3861e52d6b02d494f6293ee82666a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:17:03.332771Z","signature_b64":"wzDnqE5W+/K2zmbsxbTlsuYHzapz/Vm4y3jIcyjXBIXT5FQdvr39PGTJoVTrlB1LtXjI0v1t3vvCKOc8vHpXCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1ec0c907fca00327e369478674a01de79ed3861e52d6b02d494f6293ee82666a","last_reissued_at":"2026-07-05T11:17:03.332249Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:17:03.332249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.05473","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":"2026-07-05T11:17:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6EFSV/tfrIkmZ13fJOG7DCjVrPyOwB5Lqg+PFfgj1MsV8IFiDLFCmahnaWUw2eBXJlICpwdTJkDI+h0fpIKQDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T22:37:52.796623Z"},"content_sha256":"3f5734310b57fc9c836cb5b9619a3751c82572b85d876dd1034b0a564b964031","schema_version":"1.0","event_id":"sha256:3f5734310b57fc9c836cb5b9619a3751c82572b85d876dd1034b0a564b964031"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:D3AMSB74UABSPY3JI6DHJIA546","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"S2GO: Streaming Sparse Gaussian Occupancy Prediction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Chensheng Peng, Jinhyung Park, Kris Kitani, Wei Zhan, Wenzhao Zheng, Yihan Hu","submitted_at":"2025-06-05T18:00:11Z","abstract_excerpt":"Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense representations are slow, and they lack flexibility in capturing the temporal dynamics of driving scenes. Distinct from prior work, we instead summarize the scene into a compact set of 3D queries which are propagated through time in an online, streaming fashion. These queries are then decoded into semantic Gaussians at each timestep. We couple our framework "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.05473","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/2506.05473/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":"2026-07-05T11:17:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pSLisiTdyFUZ5zW65YsCoGTla/RXm/qGjLqcA31XRPrUOmt9p2Q6FQKaRKJRxZHyO92VJWPJayu+JVfwA3svDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T22:37:52.797070Z"},"content_sha256":"1427eb68747e72c5a0d783709ef3ba5fb08f4e9ecff2d2f46a8a8e85e0f754a8","schema_version":"1.0","event_id":"sha256:1427eb68747e72c5a0d783709ef3ba5fb08f4e9ecff2d2f46a8a8e85e0f754a8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D3AMSB74UABSPY3JI6DHJIA546/bundle.json","state_url":"https://pith.science/pith/D3AMSB74UABSPY3JI6DHJIA546/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D3AMSB74UABSPY3JI6DHJIA546/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":"2026-08-07T22:37:52Z","links":{"resolver":"https://pith.science/pith/D3AMSB74UABSPY3JI6DHJIA546","bundle":"https://pith.science/pith/D3AMSB74UABSPY3JI6DHJIA546/bundle.json","state":"https://pith.science/pith/D3AMSB74UABSPY3JI6DHJIA546/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D3AMSB74UABSPY3JI6DHJIA546/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:D3AMSB74UABSPY3JI6DHJIA546","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":"e423c745bb45d0f4aa27d15749d22db7e7a97e6b95321f961a40627c217362cf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-06-05T18:00:11Z","title_canon_sha256":"398a796f3df63c2dc03b396e88b0b264f86cae6e2858c3e50452015f9d01bf35"},"schema_version":"1.0","source":{"id":"2506.05473","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.05473","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"arxiv_version","alias_value":"2506.05473v1","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.05473","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_12","alias_value":"D3AMSB74UABS","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_16","alias_value":"D3AMSB74UABSPY3J","created_at":"2026-07-05T11:17:03Z"},{"alias_kind":"pith_short_8","alias_value":"D3AMSB74","created_at":"2026-07-05T11:17:03Z"}],"graph_snapshots":[{"event_id":"sha256:1427eb68747e72c5a0d783709ef3ba5fb08f4e9ecff2d2f46a8a8e85e0f754a8","target":"graph","created_at":"2026-07-05T11:17:03Z","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/2506.05473/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense representations are slow, and they lack flexibility in capturing the temporal dynamics of driving scenes. Distinct from prior work, we instead summarize the scene into a compact set of 3D queries which are propagated through time in an online, streaming fashion. These queries are then decoded into semantic Gaussians at each timestep. We couple our framework ","authors_text":"Chensheng Peng, Jinhyung Park, Kris Kitani, Wei Zhan, Wenzhao Zheng, Yihan Hu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-06-05T18:00:11Z","title":"S2GO: Streaming Sparse Gaussian Occupancy Prediction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.05473","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":"sha256:3f5734310b57fc9c836cb5b9619a3751c82572b85d876dd1034b0a564b964031","target":"record","created_at":"2026-07-05T11:17:03Z","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":"e423c745bb45d0f4aa27d15749d22db7e7a97e6b95321f961a40627c217362cf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-06-05T18:00:11Z","title_canon_sha256":"398a796f3df63c2dc03b396e88b0b264f86cae6e2858c3e50452015f9d01bf35"},"schema_version":"1.0","source":{"id":"2506.05473","kind":"arxiv","version":1}},"canonical_sha256":"1ec0c907fca00327e369478674a01de79ed3861e52d6b02d494f6293ee82666a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1ec0c907fca00327e369478674a01de79ed3861e52d6b02d494f6293ee82666a","first_computed_at":"2026-07-05T11:17:03.332249Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:17:03.332249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wzDnqE5W+/K2zmbsxbTlsuYHzapz/Vm4y3jIcyjXBIXT5FQdvr39PGTJoVTrlB1LtXjI0v1t3vvCKOc8vHpXCw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:17:03.332771Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.05473","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f5734310b57fc9c836cb5b9619a3751c82572b85d876dd1034b0a564b964031","sha256:1427eb68747e72c5a0d783709ef3ba5fb08f4e9ecff2d2f46a8a8e85e0f754a8"],"state_sha256":"de97371a6390e431342c08094608ac6e0e03ffd1a3200ee613da6dcf06ee634e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4oYdpfgZo8UMwbkTj1LmXCwD0XZ7yMa3r+GU+Y2eykO9OL9xFkH9QEwQWRJ76GqLbWiejY0Z7RLRkJrJvrCCBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T22:37:52.799766Z","bundle_sha256":"5b6a270c085888df62c0574865128f8313859f74ada38382084687ce884c800c"}}