{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:T2Y4DKBKSPRY3OGKF2RTX6A7RU","short_pith_number":"pith:T2Y4DKBK","canonical_record":{"source":{"id":"2304.10628","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2023-04-20T20:09:59Z","cross_cats_sorted":[],"title_canon_sha256":"635bc9b4a0a9368e3ea41ff1cda3506ddbba943078feb0726f1f99356faed7bf","abstract_canon_sha256":"85fb3371c17ec05f0392cd7171a0d78807e24d2357ac0eaf5122c77f3baf0257"},"schema_version":"1.0"},"canonical_sha256":"9eb1c1a82a93e38db8ca2ea33bf81f8d18a6bc6b32adb0f084ada6d927cd4802","source":{"kind":"arxiv","id":"2304.10628","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.10628","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"arxiv_version","alias_value":"2304.10628v1","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.10628","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_12","alias_value":"T2Y4DKBKSPRY","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_16","alias_value":"T2Y4DKBKSPRY3OGK","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_8","alias_value":"T2Y4DKBK","created_at":"2026-07-05T06:03:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:T2Y4DKBKSPRY3OGKF2RTX6A7RU","target":"record","payload":{"canonical_record":{"source":{"id":"2304.10628","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2023-04-20T20:09:59Z","cross_cats_sorted":[],"title_canon_sha256":"635bc9b4a0a9368e3ea41ff1cda3506ddbba943078feb0726f1f99356faed7bf","abstract_canon_sha256":"85fb3371c17ec05f0392cd7171a0d78807e24d2357ac0eaf5122c77f3baf0257"},"schema_version":"1.0"},"canonical_sha256":"9eb1c1a82a93e38db8ca2ea33bf81f8d18a6bc6b32adb0f084ada6d927cd4802","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:03:13.406582Z","signature_b64":"YAlAb2HAI7lvfgO2/GYtncenzvy9RNXgKuL4AKQ7O3hHFj2fekuZ20ju+QAQPv0Ns0B9bp7ykw5Hqo639+uQCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9eb1c1a82a93e38db8ca2ea33bf81f8d18a6bc6b32adb0f084ada6d927cd4802","last_reissued_at":"2026-07-05T06:03:13.406209Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:03:13.406209Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2304.10628","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":"2026-07-05T06:03:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P7mjDvQonYLOBMLSX0eQfbCHnjYlTwOreEeUACU3CJT4EYkeaP8OUQ6aSSbsKtvdQ2OwK4LoSJLW3NhaCIbPCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:50:12.402083Z"},"content_sha256":"dfec9b435dc370b38b91c2dda395723e66bbd81400b0a05d4874f640f336fe9d","schema_version":"1.0","event_id":"sha256:dfec9b435dc370b38b91c2dda395723e66bbd81400b0a05d4874f640f336fe9d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:T2Y4DKBKSPRY3OGKF2RTX6A7RU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformer","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Hao Xiang, Jiaqi Ma, Runsheng Xu","submitted_at":"2023-04-20T20:09:59Z","abstract_excerpt":"Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are equipped with the same type of sensors, which significantly hampers the scale of collaboration and benefit of cross-modality interactions. In this paper, we investigate the multi-agent hetero-modal cooperative perception problem where agents may have distinct sensor modalities. We present HM-ViT, the first unified multi-agent hetero-modal cooperative perceptio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.10628","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/2304.10628/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":"2026-07-05T06:03:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2rPm61pZO8v+b0YuIjPBwI4CtqTlOg0xOImEB3gySDWf76DUbOZDnSU2/9nAQ/mooOZ19VEAnnpRRZKnY0ZDAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:50:12.402640Z"},"content_sha256":"0a9f5b20ede44046fb4ac2194046955fc70c619e1420e936a24f8bf0b6334a5f","schema_version":"1.0","event_id":"sha256:0a9f5b20ede44046fb4ac2194046955fc70c619e1420e936a24f8bf0b6334a5f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/bundle.json","state_url":"https://pith.science/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/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":"2026-08-21T22:50:12Z","links":{"resolver":"https://pith.science/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU","bundle":"https://pith.science/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/bundle.json","state":"https://pith.science/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T2Y4DKBKSPRY3OGKF2RTX6A7RU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:T2Y4DKBKSPRY3OGKF2RTX6A7RU","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":"85fb3371c17ec05f0392cd7171a0d78807e24d2357ac0eaf5122c77f3baf0257","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2023-04-20T20:09:59Z","title_canon_sha256":"635bc9b4a0a9368e3ea41ff1cda3506ddbba943078feb0726f1f99356faed7bf"},"schema_version":"1.0","source":{"id":"2304.10628","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.10628","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"arxiv_version","alias_value":"2304.10628v1","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.10628","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_12","alias_value":"T2Y4DKBKSPRY","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_16","alias_value":"T2Y4DKBKSPRY3OGK","created_at":"2026-07-05T06:03:13Z"},{"alias_kind":"pith_short_8","alias_value":"T2Y4DKBK","created_at":"2026-07-05T06:03:13Z"}],"graph_snapshots":[{"event_id":"sha256:0a9f5b20ede44046fb4ac2194046955fc70c619e1420e936a24f8bf0b6334a5f","target":"graph","created_at":"2026-07-05T06:03:13Z","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/2304.10628/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are equipped with the same type of sensors, which significantly hampers the scale of collaboration and benefit of cross-modality interactions. In this paper, we investigate the multi-agent hetero-modal cooperative perception problem where agents may have distinct sensor modalities. We present HM-ViT, the first unified multi-agent hetero-modal cooperative perceptio","authors_text":"Hao Xiang, Jiaqi Ma, Runsheng Xu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2023-04-20T20:09:59Z","title":"HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.10628","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:dfec9b435dc370b38b91c2dda395723e66bbd81400b0a05d4874f640f336fe9d","target":"record","created_at":"2026-07-05T06:03:13Z","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":"85fb3371c17ec05f0392cd7171a0d78807e24d2357ac0eaf5122c77f3baf0257","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.CV","submitted_at":"2023-04-20T20:09:59Z","title_canon_sha256":"635bc9b4a0a9368e3ea41ff1cda3506ddbba943078feb0726f1f99356faed7bf"},"schema_version":"1.0","source":{"id":"2304.10628","kind":"arxiv","version":1}},"canonical_sha256":"9eb1c1a82a93e38db8ca2ea33bf81f8d18a6bc6b32adb0f084ada6d927cd4802","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9eb1c1a82a93e38db8ca2ea33bf81f8d18a6bc6b32adb0f084ada6d927cd4802","first_computed_at":"2026-07-05T06:03:13.406209Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:03:13.406209Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YAlAb2HAI7lvfgO2/GYtncenzvy9RNXgKuL4AKQ7O3hHFj2fekuZ20ju+QAQPv0Ns0B9bp7ykw5Hqo639+uQCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:03:13.406582Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.10628","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dfec9b435dc370b38b91c2dda395723e66bbd81400b0a05d4874f640f336fe9d","sha256:0a9f5b20ede44046fb4ac2194046955fc70c619e1420e936a24f8bf0b6334a5f"],"state_sha256":"0d67bc301306933f2cad7121d64d157e890c29c44c69acce3102677ec4006e3f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bKqBkoN4oioc8tdCp0F6RTSszMiEuiJjOt4/kl0UdjKVKDER/1zmaAvk4bRKv77+C45YMnGfFZDuTIwBCIjeBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T22:50:12.408721Z","bundle_sha256":"e72f4d5dd2e6cd6ee49ec24b71deb3631c03762703a85d81195da1b285e1ca53"}}