{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:J5JZCEU436UHP7WPNXXDVMN7SQ","short_pith_number":"pith:J5JZCEU4","canonical_record":{"source":{"id":"2505.13905","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-20T04:12:44Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"866891bf6b2e86d64c0e2f627fe74102c5f393f191e5b1ad923a226dee6b2b4b","abstract_canon_sha256":"aee955fdeb97643a760899d04ff9e79b7c333696ab81678078bd6667bc4854a2"},"schema_version":"1.0"},"canonical_sha256":"4f5391129cdfa877fecf6dee3ab1bf94322c0b8c120af2f9585101b78666d58b","source":{"kind":"arxiv","id":"2505.13905","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.13905","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"arxiv_version","alias_value":"2505.13905v1","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.13905","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_12","alias_value":"J5JZCEU436UH","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_16","alias_value":"J5JZCEU436UHP7WP","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_8","alias_value":"J5JZCEU4","created_at":"2026-07-05T11:05:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:J5JZCEU436UHP7WPNXXDVMN7SQ","target":"record","payload":{"canonical_record":{"source":{"id":"2505.13905","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-20T04:12:44Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"866891bf6b2e86d64c0e2f627fe74102c5f393f191e5b1ad923a226dee6b2b4b","abstract_canon_sha256":"aee955fdeb97643a760899d04ff9e79b7c333696ab81678078bd6667bc4854a2"},"schema_version":"1.0"},"canonical_sha256":"4f5391129cdfa877fecf6dee3ab1bf94322c0b8c120af2f9585101b78666d58b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:05:52.862041Z","signature_b64":"RnWPiWlIR48sJQ8J7CNuT3HtYpoJqMa1FYJ317uVGcExlfG2R2JN1CdWwKOysx5bssS1yrkjRNrSrVhQIq4uDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4f5391129cdfa877fecf6dee3ab1bf94322c0b8c120af2f9585101b78666d58b","last_reissued_at":"2026-07-05T11:05:52.861586Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:05:52.861586Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.13905","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":"2026-07-05T11:05:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OuqFAQYaZOmY9rXxunMcwnpuyLwNEHe+IHYr/AVsJOHFQ+CMET10exsYu3j/MfBTwpVZgvhI1l3VHYWg4GbdDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T08:01:51.910557Z"},"content_sha256":"6396e9cb8c5342b4368b8a22305d77989cad7fd34aa90bac59623c07f4cdd805","schema_version":"1.0","event_id":"sha256:6396e9cb8c5342b4368b8a22305d77989cad7fd34aa90bac59623c07f4cdd805"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:J5JZCEU436UHP7WPNXXDVMN7SQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Liang Hu, Ruihan Liu, Xiaoyi Wu, Xijun Chen, Yunjiang Lou","submitted_at":"2025-05-20T04:12:44Z","abstract_excerpt":"A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space. However, most existing occupancy estimation methods rely on LiDAR or cameras, which perform poorly in degraded environments such as smoke, rain, snow, and fog. In this paper, we propose 4D-ROLLS, the first weakly supervised occupancy estimation method for 4D radar using the LiDAR point cloud as the supervisory signal. Specifically, we introduce a method for gener"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.13905","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/2505.13905/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":"2026-07-05T11:05:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L24MxIIWerOiEfE0Jki8ZKlBcPkwN+Ris+98WCEobbLlQzyQx43aXF9wwkCek84hFdQFnt3apMVj5qL9Iiq3CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T08:01:51.911093Z"},"content_sha256":"66eb22f315ebf8ca88199d4f66b2ccffd004827b471d53157eec837e895e6394","schema_version":"1.0","event_id":"sha256:66eb22f315ebf8ca88199d4f66b2ccffd004827b471d53157eec837e895e6394"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/bundle.json","state_url":"https://pith.science/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/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":"2026-08-20T08:01:51Z","links":{"resolver":"https://pith.science/pith/J5JZCEU436UHP7WPNXXDVMN7SQ","bundle":"https://pith.science/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/bundle.json","state":"https://pith.science/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J5JZCEU436UHP7WPNXXDVMN7SQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:J5JZCEU436UHP7WPNXXDVMN7SQ","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":"aee955fdeb97643a760899d04ff9e79b7c333696ab81678078bd6667bc4854a2","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-20T04:12:44Z","title_canon_sha256":"866891bf6b2e86d64c0e2f627fe74102c5f393f191e5b1ad923a226dee6b2b4b"},"schema_version":"1.0","source":{"id":"2505.13905","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.13905","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"arxiv_version","alias_value":"2505.13905v1","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.13905","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_12","alias_value":"J5JZCEU436UH","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_16","alias_value":"J5JZCEU436UHP7WP","created_at":"2026-07-05T11:05:52Z"},{"alias_kind":"pith_short_8","alias_value":"J5JZCEU4","created_at":"2026-07-05T11:05:52Z"}],"graph_snapshots":[{"event_id":"sha256:66eb22f315ebf8ca88199d4f66b2ccffd004827b471d53157eec837e895e6394","target":"graph","created_at":"2026-07-05T11:05:52Z","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/2505.13905/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space. However, most existing occupancy estimation methods rely on LiDAR or cameras, which perform poorly in degraded environments such as smoke, rain, snow, and fog. In this paper, we propose 4D-ROLLS, the first weakly supervised occupancy estimation method for 4D radar using the LiDAR point cloud as the supervisory signal. Specifically, we introduce a method for gener","authors_text":"Liang Hu, Ruihan Liu, Xiaoyi Wu, Xijun Chen, Yunjiang Lou","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-20T04:12:44Z","title":"4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.13905","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":"sha256:6396e9cb8c5342b4368b8a22305d77989cad7fd34aa90bac59623c07f4cdd805","target":"record","created_at":"2026-07-05T11:05:52Z","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":"aee955fdeb97643a760899d04ff9e79b7c333696ab81678078bd6667bc4854a2","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-20T04:12:44Z","title_canon_sha256":"866891bf6b2e86d64c0e2f627fe74102c5f393f191e5b1ad923a226dee6b2b4b"},"schema_version":"1.0","source":{"id":"2505.13905","kind":"arxiv","version":1}},"canonical_sha256":"4f5391129cdfa877fecf6dee3ab1bf94322c0b8c120af2f9585101b78666d58b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4f5391129cdfa877fecf6dee3ab1bf94322c0b8c120af2f9585101b78666d58b","first_computed_at":"2026-07-05T11:05:52.861586Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:05:52.861586Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RnWPiWlIR48sJQ8J7CNuT3HtYpoJqMa1FYJ317uVGcExlfG2R2JN1CdWwKOysx5bssS1yrkjRNrSrVhQIq4uDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:05:52.862041Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.13905","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6396e9cb8c5342b4368b8a22305d77989cad7fd34aa90bac59623c07f4cdd805","sha256:66eb22f315ebf8ca88199d4f66b2ccffd004827b471d53157eec837e895e6394"],"state_sha256":"c47e230b381ec1f155b4e7bb478a3301df47bf8afc03b9d412a4793a70c58736"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1WPMLx8eMxTRQa3WGze33+8wz7stj22o2sZK1/9CsGgDc7zZbwvvTZSZ0zaLVIgIDT6NSZI60XFr4Zu8NTzbBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T08:01:51.918901Z","bundle_sha256":"29f627dd914c2882b86f9ab474691021dd264057719889d086648447500274a4"}}