{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FTZFGTYKFC3WIEYZBW5GW5LFRB","short_pith_number":"pith:FTZFGTYK","canonical_record":{"source":{"id":"2606.05035","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-03T16:00:13Z","cross_cats_sorted":[],"title_canon_sha256":"291469f6f2fdf2257530e84b1e9d8db86c3358bcbb2e412d7bf4316f1e134527","abstract_canon_sha256":"f4b22543dbb206481be7009b34dd2d829f91b2676b4f33c76183e884e8e71e27"},"schema_version":"1.0"},"canonical_sha256":"2cf2534f0a28b76413190dba6b75658873d873c7b24f75b0743292395f0c1e72","source":{"kind":"arxiv","id":"2606.05035","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.05035","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"arxiv_version","alias_value":"2606.05035v1","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05035","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_12","alias_value":"FTZFGTYKFC3W","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_16","alias_value":"FTZFGTYKFC3WIEYZ","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_8","alias_value":"FTZFGTYK","created_at":"2026-06-04T01:10:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FTZFGTYKFC3WIEYZBW5GW5LFRB","target":"record","payload":{"canonical_record":{"source":{"id":"2606.05035","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-03T16:00:13Z","cross_cats_sorted":[],"title_canon_sha256":"291469f6f2fdf2257530e84b1e9d8db86c3358bcbb2e412d7bf4316f1e134527","abstract_canon_sha256":"f4b22543dbb206481be7009b34dd2d829f91b2676b4f33c76183e884e8e71e27"},"schema_version":"1.0"},"canonical_sha256":"2cf2534f0a28b76413190dba6b75658873d873c7b24f75b0743292395f0c1e72","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:10:03.334402Z","signature_b64":"ofh7s/ao+aFwoad2GkA57z8x8+CsNhaW+LfTFexmgdLIfRFiGzULdvWdZAHwpbfipPBtdeGW3j09xkRI0u3ZAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cf2534f0a28b76413190dba6b75658873d873c7b24f75b0743292395f0c1e72","last_reissued_at":"2026-06-04T01:10:03.333693Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:10:03.333693Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.05035","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":"2026-06-04T01:10:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iNTjie2dxZlWxqly9gkiTShphCSOTSLmQ1OLSE6N/SDI11ZWDNW8iQDPq09hM3bRXnY4H0NHWCbkyi2HZpDqDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T21:25:54.007216Z"},"content_sha256":"6fc8a51d1c3945ddf734684cf743ccaa2b86d97094cf591158e9aed162397dfa","schema_version":"1.0","event_id":"sha256:6fc8a51d1c3945ddf734684cf743ccaa2b86d97094cf591158e9aed162397dfa"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FTZFGTYKFC3WIEYZBW5GW5LFRB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Caiwei Song, Chong Cheng, Hainan Cui, Peilin Tao, Qian Zhang, Shuhan Shen, Weiqiang Ren, Wei Yin, Xiaoyang Guo, Yuansen Du, Zhengqing Chen","submitted_at":"2026-06-03T16:00:13Z","abstract_excerpt":"Long-horizon online visual mapping is a core capability for robot perception, requiring continuous camera-motion and scene-geometry estimation from visual streams under bounded memory and computation. Recent feed-forward 3D reconstruction models provide strong geometric priors, but their streaming variants often predict poses in a fixed coordinate system tied to the first frame or a persistent scene memory. This fixed-gauge design leads to train--test mismatch, attention bias toward early anchors, and accumulated drift on sequences much longer than those seen during training. We propose \\emph{"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05035","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/2606.05035/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":"2026-06-04T01:10:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0YdEy5+WELfCk6QgRBnH0Bn1KglCgiXAFZ2ylYoz5bguclOCIIsgeZ5HsMn1nQd8Liyoryc8LMHJOh7AO7pyDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T21:25:54.007618Z"},"content_sha256":"73eddbc0f6adc558f6fa86feeb8c23a04516f74a0e3b29554a6e533fcc557d2d","schema_version":"1.0","event_id":"sha256:73eddbc0f6adc558f6fa86feeb8c23a04516f74a0e3b29554a6e533fcc557d2d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/bundle.json","state_url":"https://pith.science/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/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":"2026-06-30T21:25:54Z","links":{"resolver":"https://pith.science/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB","bundle":"https://pith.science/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/bundle.json","state":"https://pith.science/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FTZFGTYKFC3WIEYZBW5GW5LFRB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FTZFGTYKFC3WIEYZBW5GW5LFRB","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":"f4b22543dbb206481be7009b34dd2d829f91b2676b4f33c76183e884e8e71e27","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-03T16:00:13Z","title_canon_sha256":"291469f6f2fdf2257530e84b1e9d8db86c3358bcbb2e412d7bf4316f1e134527"},"schema_version":"1.0","source":{"id":"2606.05035","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.05035","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"arxiv_version","alias_value":"2606.05035v1","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05035","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_12","alias_value":"FTZFGTYKFC3W","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_16","alias_value":"FTZFGTYKFC3WIEYZ","created_at":"2026-06-04T01:10:03Z"},{"alias_kind":"pith_short_8","alias_value":"FTZFGTYK","created_at":"2026-06-04T01:10:03Z"}],"graph_snapshots":[{"event_id":"sha256:73eddbc0f6adc558f6fa86feeb8c23a04516f74a0e3b29554a6e533fcc557d2d","target":"graph","created_at":"2026-06-04T01:10:03Z","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/2606.05035/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Long-horizon online visual mapping is a core capability for robot perception, requiring continuous camera-motion and scene-geometry estimation from visual streams under bounded memory and computation. Recent feed-forward 3D reconstruction models provide strong geometric priors, but their streaming variants often predict poses in a fixed coordinate system tied to the first frame or a persistent scene memory. This fixed-gauge design leads to train--test mismatch, attention bias toward early anchors, and accumulated drift on sequences much longer than those seen during training. We propose \\emph{","authors_text":"Caiwei Song, Chong Cheng, Hainan Cui, Peilin Tao, Qian Zhang, Shuhan Shen, Weiqiang Ren, Wei Yin, Xiaoyang Guo, Yuansen Du, Zhengqing Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-03T16:00:13Z","title":"Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05035","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":"sha256:6fc8a51d1c3945ddf734684cf743ccaa2b86d97094cf591158e9aed162397dfa","target":"record","created_at":"2026-06-04T01:10:03Z","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":"f4b22543dbb206481be7009b34dd2d829f91b2676b4f33c76183e884e8e71e27","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-06-03T16:00:13Z","title_canon_sha256":"291469f6f2fdf2257530e84b1e9d8db86c3358bcbb2e412d7bf4316f1e134527"},"schema_version":"1.0","source":{"id":"2606.05035","kind":"arxiv","version":1}},"canonical_sha256":"2cf2534f0a28b76413190dba6b75658873d873c7b24f75b0743292395f0c1e72","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cf2534f0a28b76413190dba6b75658873d873c7b24f75b0743292395f0c1e72","first_computed_at":"2026-06-04T01:10:03.333693Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:10:03.333693Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ofh7s/ao+aFwoad2GkA57z8x8+CsNhaW+LfTFexmgdLIfRFiGzULdvWdZAHwpbfipPBtdeGW3j09xkRI0u3ZAA==","signature_status":"signed_v1","signed_at":"2026-06-04T01:10:03.334402Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.05035","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6fc8a51d1c3945ddf734684cf743ccaa2b86d97094cf591158e9aed162397dfa","sha256:73eddbc0f6adc558f6fa86feeb8c23a04516f74a0e3b29554a6e533fcc557d2d"],"state_sha256":"6d5e08fcbcd4a77a0066575cc23964aa9609ab190be4d45a6fc44f9a56bed34a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1lLGCQibqYIP8MK4IjUUa9xsuvGJZ5q49lJGKSBXb5Jm8t7jY7sTJERASIg7MH6Dr9oZeoF8RFoJk/iFb7n0CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T21:25:54.009756Z","bundle_sha256":"4f8c52c9282ef5b2b0738e8d71f5231708f0564b4c3727c470b04170d9bf6f90"}}