{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:GRINOLCEITJWJ3BWX5VKSA3FQY","short_pith_number":"pith:GRINOLCE","canonical_record":{"source":{"id":"2207.11232","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-22T17:41:24Z","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"title_canon_sha256":"ce6392eb6f9d35ec3101f1036d206bdaa2948bb11aafdbcb1b779103406bf77d","abstract_canon_sha256":"c7d4e383f9c9988f93d113a8f5b623931fb61e14f9e8c63b79a5aff32e009bc2"},"schema_version":"1.0"},"canonical_sha256":"3450d72c4444d364ec36bf6aa90365861dd2a5ab9462855acffb18623f15efe1","source":{"kind":"arxiv","id":"2207.11232","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.11232","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"arxiv_version","alias_value":"2207.11232v2","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.11232","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_12","alias_value":"GRINOLCEITJW","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_16","alias_value":"GRINOLCEITJWJ3BW","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_8","alias_value":"GRINOLCE","created_at":"2026-07-05T05:59:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:GRINOLCEITJWJ3BWX5VKSA3FQY","target":"record","payload":{"canonical_record":{"source":{"id":"2207.11232","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-22T17:41:24Z","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"title_canon_sha256":"ce6392eb6f9d35ec3101f1036d206bdaa2948bb11aafdbcb1b779103406bf77d","abstract_canon_sha256":"c7d4e383f9c9988f93d113a8f5b623931fb61e14f9e8c63b79a5aff32e009bc2"},"schema_version":"1.0"},"canonical_sha256":"3450d72c4444d364ec36bf6aa90365861dd2a5ab9462855acffb18623f15efe1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:59:20.855026Z","signature_b64":"/sFVSxt+dqK28jLRwmAMIrMhXgx/nuxRh+RVRyiy1ElTium7zIzjHmEolY/LgxbF/6xPd7zWKjU6izeg7+5KDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3450d72c4444d364ec36bf6aa90365861dd2a5ab9462855acffb18623f15efe1","last_reissued_at":"2026-07-05T05:59:20.854548Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:59:20.854548Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2207.11232","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:59:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N0ws4zyk0eBEFL7/iCTM8BoXcgGSU8LMJQzTNTj01R5Z1NtS9e1GmsGNh7vg8umA6PkqGCC0Akx+v4JxiFyoBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:18:34.593580Z"},"content_sha256":"32325920b17e67f45fc42d7e58e2d159853cd2b8366a0b5eba60b50a9625c92e","schema_version":"1.0","event_id":"sha256:32325920b17e67f45fc42d7e58e2d159853cd2b8366a0b5eba60b50a9625c92e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:GRINOLCEITJWJ3BWX5VKSA3FQY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Neural Groundplans: Persistent Neural Scene Representations from a Single Image","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.GR","cs.LG"],"primary_cat":"cs.CV","authors_text":"Adrien Gaidon, Ayush Tewari, Fredo Durand, Joshua B. Tenenbaum, Prafull Sharma, Rares Ambrus, Sergey Zakharov, Vincent Sitzmann, William T. Freeman, Yilun Du","submitted_at":"2022-07-22T17:41:24Z","abstract_excerpt":"We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the bird's-eye-view (BEV) representation commonly used in vision and robotics, we propose conditional neural groundplans, ground-aligned 2D feature grids, as persistent and memory-efficient scene representations. Our method is trained self-supervised from unlabeled multi-view observations using differentiable rendering, and learns to complete geometry and appearance o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.11232","kind":"arxiv","version":2},"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/2207.11232/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":"2026-07-05T05:59:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QsAgJH0jky2bi6MzqRuRpy4R/efSn4f36G2J27VQ0OWYNFQMyQGvGg+x2K+p9C3GgnQhqIcefFmFvcIdli05DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:18:34.593950Z"},"content_sha256":"17a19bd3fd61911b942e012807ccfda8f808ab9718f5e69621552c6c3e531a98","schema_version":"1.0","event_id":"sha256:17a19bd3fd61911b942e012807ccfda8f808ab9718f5e69621552c6c3e531a98"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/bundle.json","state_url":"https://pith.science/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/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":"2026-07-07T06:18:34Z","links":{"resolver":"https://pith.science/pith/GRINOLCEITJWJ3BWX5VKSA3FQY","bundle":"https://pith.science/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/bundle.json","state":"https://pith.science/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GRINOLCEITJWJ3BWX5VKSA3FQY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:GRINOLCEITJWJ3BWX5VKSA3FQY","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":"c7d4e383f9c9988f93d113a8f5b623931fb61e14f9e8c63b79a5aff32e009bc2","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-22T17:41:24Z","title_canon_sha256":"ce6392eb6f9d35ec3101f1036d206bdaa2948bb11aafdbcb1b779103406bf77d"},"schema_version":"1.0","source":{"id":"2207.11232","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.11232","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"arxiv_version","alias_value":"2207.11232v2","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.11232","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_12","alias_value":"GRINOLCEITJW","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_16","alias_value":"GRINOLCEITJWJ3BW","created_at":"2026-07-05T05:59:20Z"},{"alias_kind":"pith_short_8","alias_value":"GRINOLCE","created_at":"2026-07-05T05:59:20Z"}],"graph_snapshots":[{"event_id":"sha256:17a19bd3fd61911b942e012807ccfda8f808ab9718f5e69621552c6c3e531a98","target":"graph","created_at":"2026-07-05T05:59:20Z","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/2207.11232/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the bird's-eye-view (BEV) representation commonly used in vision and robotics, we propose conditional neural groundplans, ground-aligned 2D feature grids, as persistent and memory-efficient scene representations. Our method is trained self-supervised from unlabeled multi-view observations using differentiable rendering, and learns to complete geometry and appearance o","authors_text":"Adrien Gaidon, Ayush Tewari, Fredo Durand, Joshua B. Tenenbaum, Prafull Sharma, Rares Ambrus, Sergey Zakharov, Vincent Sitzmann, William T. Freeman, Yilun Du","cross_cats":["cs.AI","cs.GR","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-22T17:41:24Z","title":"Neural Groundplans: Persistent Neural Scene Representations from a Single Image"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.11232","kind":"arxiv","version":2},"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":"sha256:32325920b17e67f45fc42d7e58e2d159853cd2b8366a0b5eba60b50a9625c92e","target":"record","created_at":"2026-07-05T05:59:20Z","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":"c7d4e383f9c9988f93d113a8f5b623931fb61e14f9e8c63b79a5aff32e009bc2","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2022-07-22T17:41:24Z","title_canon_sha256":"ce6392eb6f9d35ec3101f1036d206bdaa2948bb11aafdbcb1b779103406bf77d"},"schema_version":"1.0","source":{"id":"2207.11232","kind":"arxiv","version":2}},"canonical_sha256":"3450d72c4444d364ec36bf6aa90365861dd2a5ab9462855acffb18623f15efe1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3450d72c4444d364ec36bf6aa90365861dd2a5ab9462855acffb18623f15efe1","first_computed_at":"2026-07-05T05:59:20.854548Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:59:20.854548Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/sFVSxt+dqK28jLRwmAMIrMhXgx/nuxRh+RVRyiy1ElTium7zIzjHmEolY/LgxbF/6xPd7zWKjU6izeg7+5KDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:59:20.855026Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.11232","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:32325920b17e67f45fc42d7e58e2d159853cd2b8366a0b5eba60b50a9625c92e","sha256:17a19bd3fd61911b942e012807ccfda8f808ab9718f5e69621552c6c3e531a98"],"state_sha256":"3956a2d92ea3d6d57090cc29103ff0ed40131e98c4a5fc1a9cc904676b71699e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q3Bf94ZxLYN1ay8N9Vga1CW4T0JmUhLSLhbY7kP4lzsvudcil62pZ+hDSYE/l5MUVYXWPIEYIOfywDTa+9eRDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:18:34.596194Z","bundle_sha256":"32b777499ec1f450a478c353bc67614ee664753bda3c5e22812c328849011f8a"}}