{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:SW7XKSTSUGEGQEL767GZBL5YZ3","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":"a0b7ecde672563ab154a73cf8f0e6063f648fd7d82131744b3b0cad6ae2dd57a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T21:10:42Z","title_canon_sha256":"24d2af5a00f6abe5c9de0a8cc2dd55b655439ab8a392c7be9986e86286839d72"},"schema_version":"1.0","source":{"id":"1809.05590","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.05590","created_at":"2026-05-17T23:47:02Z"},{"alias_kind":"arxiv_version","alias_value":"1809.05590v3","created_at":"2026-05-17T23:47:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.05590","created_at":"2026-05-17T23:47:02Z"},{"alias_kind":"pith_short_12","alias_value":"SW7XKSTSUGEG","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"SW7XKSTSUGEGQEL7","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"SW7XKSTS","created_at":"2026-05-18T12:32:53Z"}],"graph_snapshots":[{"event_id":"sha256:db39b24e0351932d6b4dd94a856eef68e990b1c4c86bee7d4ddfddd9f3245862","target":"graph","created_at":"2026-05-17T23:47:02Z","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"},"paper":{"abstract_excerpt":"We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations predicted by auxiliary output layers. Using our proposed method, the network ignores to train from noisy samples, and focuses more on informative ones. We validate our method on the KITTI object detection benchmark. Our method surpasses the baseline method which does not explicitly estimate uncertainties by up to nearly 9% in terms of Average Precision (AP). It a","authors_text":"Di Feng, Fabian Timm, Klaus Dietmayer, Lars Rosenbaum","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T21:10:42Z","title":"Leveraging Heteroscedastic Aleatoric Uncertainties for Robust Real-Time LiDAR 3D Object Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.05590","kind":"arxiv","version":3},"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":"sha256:6b0b5e5b51b33d4c6ea0b343c989f439c632fb34318744d024b3be1c8edea645","target":"record","created_at":"2026-05-17T23:47:02Z","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":"a0b7ecde672563ab154a73cf8f0e6063f648fd7d82131744b3b0cad6ae2dd57a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-14T21:10:42Z","title_canon_sha256":"24d2af5a00f6abe5c9de0a8cc2dd55b655439ab8a392c7be9986e86286839d72"},"schema_version":"1.0","source":{"id":"1809.05590","kind":"arxiv","version":3}},"canonical_sha256":"95bf754a72a18868117ff7cd90afb8ced5610772cd12415fab9905c78aac2ac4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"95bf754a72a18868117ff7cd90afb8ced5610772cd12415fab9905c78aac2ac4","first_computed_at":"2026-05-17T23:47:02.863338Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:47:02.863338Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JeHMsM7+Y8EwBq9j1oKAfSsQgomkEs/sXGCJvkb/YXsiSnJRc/tAH+3Fvuy9z18AJi80LtXeNBJDz6Vr6qeHCQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:47:02.863898Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.05590","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6b0b5e5b51b33d4c6ea0b343c989f439c632fb34318744d024b3be1c8edea645","sha256:db39b24e0351932d6b4dd94a856eef68e990b1c4c86bee7d4ddfddd9f3245862"],"state_sha256":"8ffeb165c2b0812fd1d624d61031517a6197cf4b41d1198760fa1ca734a797c1"}