{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SKAUCU34BUZTQLSCYKSYQZWPOL","short_pith_number":"pith:SKAUCU34","canonical_record":{"source":{"id":"2505.03284","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-06T08:12:31Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"639e0f70afd461d65e1425966adcca8a066223dd8aeb8a82307fd9018a313e06","abstract_canon_sha256":"97265756392f0cf8b91815b20e6263b1c02da98ae12d761926d02369daafceea"},"schema_version":"1.0"},"canonical_sha256":"928141537c0d33382e42c2a58866cf72ddc1d16dee7f6ed73501b352f533a613","source":{"kind":"arxiv","id":"2505.03284","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.03284","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.03284v1","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.03284","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_12","alias_value":"SKAUCU34BUZT","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_16","alias_value":"SKAUCU34BUZTQLSC","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_8","alias_value":"SKAUCU34","created_at":"2026-07-05T10:59:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SKAUCU34BUZTQLSCYKSYQZWPOL","target":"record","payload":{"canonical_record":{"source":{"id":"2505.03284","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-06T08:12:31Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"639e0f70afd461d65e1425966adcca8a066223dd8aeb8a82307fd9018a313e06","abstract_canon_sha256":"97265756392f0cf8b91815b20e6263b1c02da98ae12d761926d02369daafceea"},"schema_version":"1.0"},"canonical_sha256":"928141537c0d33382e42c2a58866cf72ddc1d16dee7f6ed73501b352f533a613","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:59:13.392057Z","signature_b64":"lvrcwps3law/Kq3cnHiASCXckoNNf7smxxGBwz6JiQfJcpnffx+Z6L1e4unO/91UCA4W76S2I0PEyp0UAWq8DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"928141537c0d33382e42c2a58866cf72ddc1d16dee7f6ed73501b352f533a613","last_reissued_at":"2026-07-05T10:59:13.391576Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:59:13.391576Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.03284","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":"2026-07-05T10:59:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fP3haUfFtb7KBN6pmLV82f17v9w3wkApnsmzezwMvmRNUrVREnshlzuCAWcxiJhZ4eVSNtUSLz9/BF6ixshBDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T05:59:14.790863Z"},"content_sha256":"03f647c8f38b76edbc56a438694fe1bc6d57f50495d56603cd1edaf2082f81f4","schema_version":"1.0","event_id":"sha256:03f647c8f38b76edbc56a438694fe1bc6d57f50495d56603cd1edaf2082f81f4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SKAUCU34BUZTQLSCYKSYQZWPOL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"OccCylindrical: Multi-Modal Fusion with Cylindrical Representation for 3D Semantic Occupancy Prediction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Hongyu Lyu, Julie Stephany Berrio, Mao Shan, Nguyen Hoang Khoi Tran, Stewart Worrall, Tzu-Yun Tseng, Yaoqi Huang, Zhenxing Ming","submitted_at":"2025-05-06T08:12:31Z","abstract_excerpt":"The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel with both occupancy and semantic information. Recent perception models have used multisensor fusion to perform this task. However, existing multisensor fusion-based approaches focus mainly on using sensor information in the Cartesian coordinate system. This ignores the distribution of the sensor readings, leading to a loss of fine-grained details and performa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.03284","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/2505.03284/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":"2026-07-05T10:59:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BTQQK1DXRMKj6GQewpiEgVpaZOuzofBquQMSPbtThQm2ix5GOEVkr2m2gZpLyYswGDs/bRwKq0u7kvAwYGV7Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T05:59:14.791799Z"},"content_sha256":"3f3512036cf4f2473b6565e9599398239e96d6cefd80873349185f883e198d34","schema_version":"1.0","event_id":"sha256:3f3512036cf4f2473b6565e9599398239e96d6cefd80873349185f883e198d34"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/bundle.json","state_url":"https://pith.science/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/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":"2026-08-10T05:59:14Z","links":{"resolver":"https://pith.science/pith/SKAUCU34BUZTQLSCYKSYQZWPOL","bundle":"https://pith.science/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/bundle.json","state":"https://pith.science/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SKAUCU34BUZTQLSCYKSYQZWPOL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SKAUCU34BUZTQLSCYKSYQZWPOL","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":"97265756392f0cf8b91815b20e6263b1c02da98ae12d761926d02369daafceea","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-06T08:12:31Z","title_canon_sha256":"639e0f70afd461d65e1425966adcca8a066223dd8aeb8a82307fd9018a313e06"},"schema_version":"1.0","source":{"id":"2505.03284","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.03284","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.03284v1","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.03284","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_12","alias_value":"SKAUCU34BUZT","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_16","alias_value":"SKAUCU34BUZTQLSC","created_at":"2026-07-05T10:59:13Z"},{"alias_kind":"pith_short_8","alias_value":"SKAUCU34","created_at":"2026-07-05T10:59:13Z"}],"graph_snapshots":[{"event_id":"sha256:3f3512036cf4f2473b6565e9599398239e96d6cefd80873349185f883e198d34","target":"graph","created_at":"2026-07-05T10:59:13Z","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/2505.03284/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel with both occupancy and semantic information. Recent perception models have used multisensor fusion to perform this task. However, existing multisensor fusion-based approaches focus mainly on using sensor information in the Cartesian coordinate system. This ignores the distribution of the sensor readings, leading to a loss of fine-grained details and performa","authors_text":"Hongyu Lyu, Julie Stephany Berrio, Mao Shan, Nguyen Hoang Khoi Tran, Stewart Worrall, Tzu-Yun Tseng, Yaoqi Huang, Zhenxing Ming","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-06T08:12:31Z","title":"OccCylindrical: Multi-Modal Fusion with Cylindrical Representation for 3D Semantic Occupancy Prediction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.03284","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":"sha256:03f647c8f38b76edbc56a438694fe1bc6d57f50495d56603cd1edaf2082f81f4","target":"record","created_at":"2026-07-05T10:59:13Z","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":"97265756392f0cf8b91815b20e6263b1c02da98ae12d761926d02369daafceea","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-06T08:12:31Z","title_canon_sha256":"639e0f70afd461d65e1425966adcca8a066223dd8aeb8a82307fd9018a313e06"},"schema_version":"1.0","source":{"id":"2505.03284","kind":"arxiv","version":1}},"canonical_sha256":"928141537c0d33382e42c2a58866cf72ddc1d16dee7f6ed73501b352f533a613","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"928141537c0d33382e42c2a58866cf72ddc1d16dee7f6ed73501b352f533a613","first_computed_at":"2026-07-05T10:59:13.391576Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:59:13.391576Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lvrcwps3law/Kq3cnHiASCXckoNNf7smxxGBwz6JiQfJcpnffx+Z6L1e4unO/91UCA4W76S2I0PEyp0UAWq8DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:59:13.392057Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.03284","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:03f647c8f38b76edbc56a438694fe1bc6d57f50495d56603cd1edaf2082f81f4","sha256:3f3512036cf4f2473b6565e9599398239e96d6cefd80873349185f883e198d34"],"state_sha256":"296174e0c5bb439a7e74212e48724cb08cc0ebba2fda619adc2c9669b7a0eb9a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bfPtX3ma2uT1wwDfvNi8rbB36yKhUYEjsNEDXj+HUc3VENeUJtQ322PF+rcX9Hghfu5Pm1hKxJhnVshgWsAUDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T05:59:14.797487Z","bundle_sha256":"901e9d9cc16ff4091a7902f5d5a79b30d78e89a1a683384458fcc1a855fba005"}}