{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:QAEOBJX6AUUIG5IRHHE3EWLKP3","short_pith_number":"pith:QAEOBJX6","canonical_record":{"source":{"id":"2006.15505","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-28T04:49:39Z","cross_cats_sorted":[],"title_canon_sha256":"829e0d603a69b50c742dfaeed48ee0d10314ada0cfe518c4afee53b0f1d1228e","abstract_canon_sha256":"e13415fe6528f7788675ed0ba7f4ccde9838c658a8b0ec56ee2bcb94f6375915"},"schema_version":"1.0"},"canonical_sha256":"8008e0a6fe052883751139c9b2596a7ed9f4e35ceb7663d577ad83bc2568d6d8","source":{"kind":"arxiv","id":"2006.15505","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.15505","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"arxiv_version","alias_value":"2006.15505v1","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.15505","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_12","alias_value":"QAEOBJX6AUUI","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_16","alias_value":"QAEOBJX6AUUIG5IR","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_8","alias_value":"QAEOBJX6","created_at":"2026-07-05T01:14:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:QAEOBJX6AUUIG5IRHHE3EWLKP3","target":"record","payload":{"canonical_record":{"source":{"id":"2006.15505","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-28T04:49:39Z","cross_cats_sorted":[],"title_canon_sha256":"829e0d603a69b50c742dfaeed48ee0d10314ada0cfe518c4afee53b0f1d1228e","abstract_canon_sha256":"e13415fe6528f7788675ed0ba7f4ccde9838c658a8b0ec56ee2bcb94f6375915"},"schema_version":"1.0"},"canonical_sha256":"8008e0a6fe052883751139c9b2596a7ed9f4e35ceb7663d577ad83bc2568d6d8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:14:06.267354Z","signature_b64":"m1QeuT0PARQzIB0SkWENhbdA6eMJ/AJLLPZoaqTxOFEna3T4JLqpbf86GWHfQd6jlB5qwHbpK1YN2705kVBjCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8008e0a6fe052883751139c9b2596a7ed9f4e35ceb7663d577ad83bc2568d6d8","last_reissued_at":"2026-07-05T01:14:06.266942Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:14:06.266942Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2006.15505","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":"2026-07-05T01:14:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CGevEsylXzcCJ06aHerF6DuGizcwY0s1BKvpzs9qbDE5NzsBLGmsxqZAHkLV+hv/j6zGIK2acB2GFUd3X8ZVAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T05:16:50.476219Z"},"content_sha256":"e4a47ad13c5ca89862efcacda042b74330aefde79e11db0ebc88e6f18d531221","schema_version":"1.0","event_id":"sha256:e4a47ad13c5ca89862efcacda042b74330aefde79e11db0ebc88e6f18d531221"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:QAEOBJX6AUUIG5IRHHE3EWLKP3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"1st Place Solution for Waymo Open Dataset Challenge -- 3D Detection and Domain Adaptation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Jie Liao, Li Huang, Runzhou Ge, Sijia Chen, Yihan Hu, Yu Wang, Zhuangzhuang Ding","submitted_at":"2020-06-28T04:49:39Z","abstract_excerpt":"In this technical report, we introduce our winning solution \"HorizonLiDAR3D\" for the 3D detection track and the domain adaptation track in Waymo Open Dataset Challenge at CVPR 2020. Many existing 3D object detectors include prior-based anchor box design to account for different scales and aspect ratios and classes of objects, which limits its capability of generalization to a different dataset or domain and requires post-processing (e.g. Non-Maximum Suppression (NMS)). We proposed a one-stage, anchor-free and NMS-free 3D point cloud object detector AFDet, using object key-points to encode the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.15505","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/2006.15505/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":"2026-07-05T01:14:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Dxw63M+Yk+IZmgqwGPzvfxZ8ogk55lWXsphkRLiMvg84BlC6YsSWCzLN0+JcUWQ8bBSLbTUi3tjg50rW6LltCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T05:16:50.476716Z"},"content_sha256":"db7a8a2572a0be97e67b3f701af8b6e3a78a3a45b9c445702f9d0eef0aecfa9b","schema_version":"1.0","event_id":"sha256:db7a8a2572a0be97e67b3f701af8b6e3a78a3a45b9c445702f9d0eef0aecfa9b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/bundle.json","state_url":"https://pith.science/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/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":"2026-08-18T05:16:50Z","links":{"resolver":"https://pith.science/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3","bundle":"https://pith.science/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/bundle.json","state":"https://pith.science/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QAEOBJX6AUUIG5IRHHE3EWLKP3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:QAEOBJX6AUUIG5IRHHE3EWLKP3","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":"e13415fe6528f7788675ed0ba7f4ccde9838c658a8b0ec56ee2bcb94f6375915","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-28T04:49:39Z","title_canon_sha256":"829e0d603a69b50c742dfaeed48ee0d10314ada0cfe518c4afee53b0f1d1228e"},"schema_version":"1.0","source":{"id":"2006.15505","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.15505","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"arxiv_version","alias_value":"2006.15505v1","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.15505","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_12","alias_value":"QAEOBJX6AUUI","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_16","alias_value":"QAEOBJX6AUUIG5IR","created_at":"2026-07-05T01:14:06Z"},{"alias_kind":"pith_short_8","alias_value":"QAEOBJX6","created_at":"2026-07-05T01:14:06Z"}],"graph_snapshots":[{"event_id":"sha256:db7a8a2572a0be97e67b3f701af8b6e3a78a3a45b9c445702f9d0eef0aecfa9b","target":"graph","created_at":"2026-07-05T01:14:06Z","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/2006.15505/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this technical report, we introduce our winning solution \"HorizonLiDAR3D\" for the 3D detection track and the domain adaptation track in Waymo Open Dataset Challenge at CVPR 2020. Many existing 3D object detectors include prior-based anchor box design to account for different scales and aspect ratios and classes of objects, which limits its capability of generalization to a different dataset or domain and requires post-processing (e.g. Non-Maximum Suppression (NMS)). We proposed a one-stage, anchor-free and NMS-free 3D point cloud object detector AFDet, using object key-points to encode the ","authors_text":"Jie Liao, Li Huang, Runzhou Ge, Sijia Chen, Yihan Hu, Yu Wang, Zhuangzhuang Ding","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-28T04:49:39Z","title":"1st Place Solution for Waymo Open Dataset Challenge -- 3D Detection and Domain Adaptation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.15505","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:e4a47ad13c5ca89862efcacda042b74330aefde79e11db0ebc88e6f18d531221","target":"record","created_at":"2026-07-05T01:14:06Z","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":"e13415fe6528f7788675ed0ba7f4ccde9838c658a8b0ec56ee2bcb94f6375915","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-28T04:49:39Z","title_canon_sha256":"829e0d603a69b50c742dfaeed48ee0d10314ada0cfe518c4afee53b0f1d1228e"},"schema_version":"1.0","source":{"id":"2006.15505","kind":"arxiv","version":1}},"canonical_sha256":"8008e0a6fe052883751139c9b2596a7ed9f4e35ceb7663d577ad83bc2568d6d8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8008e0a6fe052883751139c9b2596a7ed9f4e35ceb7663d577ad83bc2568d6d8","first_computed_at":"2026-07-05T01:14:06.266942Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:14:06.266942Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m1QeuT0PARQzIB0SkWENhbdA6eMJ/AJLLPZoaqTxOFEna3T4JLqpbf86GWHfQd6jlB5qwHbpK1YN2705kVBjCg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:14:06.267354Z","signed_message":"canonical_sha256_bytes"},"source_id":"2006.15505","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e4a47ad13c5ca89862efcacda042b74330aefde79e11db0ebc88e6f18d531221","sha256:db7a8a2572a0be97e67b3f701af8b6e3a78a3a45b9c445702f9d0eef0aecfa9b"],"state_sha256":"cf74946ee72bd0fdaa2e2a5064161f9fc8fc698eb0eb2f1b3f921d74a4d3def3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+1OtZXS17iYxYf3vYLQK+SVFNly38t+cBDAwuevlMOLnm4ZKe3DQL7qvaVo0uw86zSwld2HJCRixRcr8OWl+AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T05:16:50.480473Z","bundle_sha256":"bb66f2cca149acf5ff684fa92735ea6da2de6ca46479b8d2d1c89a1eba818375"}}