{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FHL4N2O6PBTOQAAMTNXQPT55BR","short_pith_number":"pith:FHL4N2O6","canonical_record":{"source":{"id":"2606.27729","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-26T05:20:35Z","cross_cats_sorted":[],"title_canon_sha256":"7944c9a8a1529b4579e2efca6715ac511c4a156fd1d6b5c279186251aa5111e6","abstract_canon_sha256":"594eac3fdb4a838e0bd60ea728513dd32cd41b103f4204c4fd75bd8579b2d8c3"},"schema_version":"1.0"},"canonical_sha256":"29d7c6e9de7866e8000c9b6f07cfbd0c6e30b0bf46fc3358e7b34932cbe9323e","source":{"kind":"arxiv","id":"2606.27729","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.27729","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"arxiv_version","alias_value":"2606.27729v1","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.27729","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_12","alias_value":"FHL4N2O6PBTO","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_16","alias_value":"FHL4N2O6PBTOQAAM","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_8","alias_value":"FHL4N2O6","created_at":"2026-06-29T01:14:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FHL4N2O6PBTOQAAMTNXQPT55BR","target":"record","payload":{"canonical_record":{"source":{"id":"2606.27729","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-26T05:20:35Z","cross_cats_sorted":[],"title_canon_sha256":"7944c9a8a1529b4579e2efca6715ac511c4a156fd1d6b5c279186251aa5111e6","abstract_canon_sha256":"594eac3fdb4a838e0bd60ea728513dd32cd41b103f4204c4fd75bd8579b2d8c3"},"schema_version":"1.0"},"canonical_sha256":"29d7c6e9de7866e8000c9b6f07cfbd0c6e30b0bf46fc3358e7b34932cbe9323e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-29T01:14:46.670961Z","signature_b64":"0mWvL6cIMBW8kAqYs3Nr6slY+V8I57rOjbhoCvt9T68i2tN40A3s/W6nCscZth11loh+9eqwMldL7M2s3cqNCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"29d7c6e9de7866e8000c9b6f07cfbd0c6e30b0bf46fc3358e7b34932cbe9323e","last_reissued_at":"2026-06-29T01:14:46.670508Z","signature_status":"signed_v1","first_computed_at":"2026-06-29T01:14:46.670508Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.27729","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":"2026-06-29T01:14:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bx7bBMp/Ny3A0lC2t5johMAqTOgFA9NmxQEtZtlyImxmpcBJYxdRy+lEIm5RcKaR+RISt1geuND7i6MydgFFBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T19:28:17.455702Z"},"content_sha256":"f4701ae4fbe4a156ee24a0ff3cc9b4a5ce6d1e82bd551798bafeb3291ff61c60","schema_version":"1.0","event_id":"sha256:f4701ae4fbe4a156ee24a0ff3cc9b4a5ce6d1e82bd551798bafeb3291ff61c60"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FHL4N2O6PBTOQAAMTNXQPT55BR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning 1-Bit LiDAR-based Localization with Auxiliary Objective","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Cheng-zhong Xu, Hui Kong, Kaijie Yin, Tian Gao, Wentao Zhu, Zhiyuan Zhang","submitted_at":"2026-06-26T05:20:35Z","abstract_excerpt":"6-DoF LiDAR-based localization is a fundamental capability for autonomous systems operating in large-scale outdoor environments. Many deep-learning-based localization methods have achieved promising performance so far. However, as one of the always-on modules competing for limited on-board computational resources, the localization module is expected to consume only a small portion of the overall compute budget. Most existing learning-based methods are still too heavy for this purpose. In contrast, binary neural networks (BNNs) offer an appealing solution, but the 1-bit compression causes sever"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.27729","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/2606.27729/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":"2026-06-29T01:14:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7navb6HdDfSb4COdQsXv9wER0Ycw/wk3Oj31cgNxm2kjYL4gfrUwPSEukgolwfaiO5BvdHwZloEdyry+/ZSPCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T19:28:17.456056Z"},"content_sha256":"56f2a6934c468453d56484fab791e05f403f924460fd18b5486b40f9a68f6956","schema_version":"1.0","event_id":"sha256:56f2a6934c468453d56484fab791e05f403f924460fd18b5486b40f9a68f6956"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/bundle.json","state_url":"https://pith.science/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/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":"2026-06-29T19:28:17Z","links":{"resolver":"https://pith.science/pith/FHL4N2O6PBTOQAAMTNXQPT55BR","bundle":"https://pith.science/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/bundle.json","state":"https://pith.science/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FHL4N2O6PBTOQAAMTNXQPT55BR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FHL4N2O6PBTOQAAMTNXQPT55BR","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":"594eac3fdb4a838e0bd60ea728513dd32cd41b103f4204c4fd75bd8579b2d8c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-26T05:20:35Z","title_canon_sha256":"7944c9a8a1529b4579e2efca6715ac511c4a156fd1d6b5c279186251aa5111e6"},"schema_version":"1.0","source":{"id":"2606.27729","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.27729","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"arxiv_version","alias_value":"2606.27729v1","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.27729","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_12","alias_value":"FHL4N2O6PBTO","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_16","alias_value":"FHL4N2O6PBTOQAAM","created_at":"2026-06-29T01:14:46Z"},{"alias_kind":"pith_short_8","alias_value":"FHL4N2O6","created_at":"2026-06-29T01:14:46Z"}],"graph_snapshots":[{"event_id":"sha256:56f2a6934c468453d56484fab791e05f403f924460fd18b5486b40f9a68f6956","target":"graph","created_at":"2026-06-29T01:14:46Z","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/2606.27729/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"6-DoF LiDAR-based localization is a fundamental capability for autonomous systems operating in large-scale outdoor environments. Many deep-learning-based localization methods have achieved promising performance so far. However, as one of the always-on modules competing for limited on-board computational resources, the localization module is expected to consume only a small portion of the overall compute budget. Most existing learning-based methods are still too heavy for this purpose. In contrast, binary neural networks (BNNs) offer an appealing solution, but the 1-bit compression causes sever","authors_text":"Cheng-zhong Xu, Hui Kong, Kaijie Yin, Tian Gao, Wentao Zhu, Zhiyuan Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-26T05:20:35Z","title":"Learning 1-Bit LiDAR-based Localization with Auxiliary Objective"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.27729","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:f4701ae4fbe4a156ee24a0ff3cc9b4a5ce6d1e82bd551798bafeb3291ff61c60","target":"record","created_at":"2026-06-29T01:14:46Z","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":"594eac3fdb4a838e0bd60ea728513dd32cd41b103f4204c4fd75bd8579b2d8c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-26T05:20:35Z","title_canon_sha256":"7944c9a8a1529b4579e2efca6715ac511c4a156fd1d6b5c279186251aa5111e6"},"schema_version":"1.0","source":{"id":"2606.27729","kind":"arxiv","version":1}},"canonical_sha256":"29d7c6e9de7866e8000c9b6f07cfbd0c6e30b0bf46fc3358e7b34932cbe9323e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"29d7c6e9de7866e8000c9b6f07cfbd0c6e30b0bf46fc3358e7b34932cbe9323e","first_computed_at":"2026-06-29T01:14:46.670508Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-29T01:14:46.670508Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0mWvL6cIMBW8kAqYs3Nr6slY+V8I57rOjbhoCvt9T68i2tN40A3s/W6nCscZth11loh+9eqwMldL7M2s3cqNCQ==","signature_status":"signed_v1","signed_at":"2026-06-29T01:14:46.670961Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.27729","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f4701ae4fbe4a156ee24a0ff3cc9b4a5ce6d1e82bd551798bafeb3291ff61c60","sha256:56f2a6934c468453d56484fab791e05f403f924460fd18b5486b40f9a68f6956"],"state_sha256":"f2dadf79ec06dc76ffb9212394511e929270d8e320c4f1db47d01769ad491199"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"I8eAvoSBogH2dR+b1umYcJQXWlwkDZBIygsS1lZfh7Z4eHysewLanFknOdNbkpqdtJhI2V+MSrPX26y8NSdsBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-29T19:28:17.457898Z","bundle_sha256":"3a8f8df00e6689cd1d8028e0a00dfdb137a5123b2c14b512a6bd7332ac542bb4"}}