{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:TD47NQOAJHP5VSK34XE6BX7BBC","short_pith_number":"pith:TD47NQOA","canonical_record":{"source":{"id":"2204.09617","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-20T16:52:43Z","cross_cats_sorted":[],"title_canon_sha256":"e767c862726bf78e3823efedf05e635e66fb456dd1d10d8765cefd4af4accc62","abstract_canon_sha256":"f7103446c34103454aa845c5e627ad827a78f86a2d5fe6802a0ad7c7a7b5b432"},"schema_version":"1.0"},"canonical_sha256":"98f9f6c1c049dfdac95be5c9e0dfe1089279279e608e0688dd6f2dea723801f8","source":{"kind":"arxiv","id":"2204.09617","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.09617","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"arxiv_version","alias_value":"2204.09617v1","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.09617","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_12","alias_value":"TD47NQOAJHP5","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_16","alias_value":"TD47NQOAJHP5VSK3","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_8","alias_value":"TD47NQOA","created_at":"2026-07-05T04:16:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:TD47NQOAJHP5VSK34XE6BX7BBC","target":"record","payload":{"canonical_record":{"source":{"id":"2204.09617","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-20T16:52:43Z","cross_cats_sorted":[],"title_canon_sha256":"e767c862726bf78e3823efedf05e635e66fb456dd1d10d8765cefd4af4accc62","abstract_canon_sha256":"f7103446c34103454aa845c5e627ad827a78f86a2d5fe6802a0ad7c7a7b5b432"},"schema_version":"1.0"},"canonical_sha256":"98f9f6c1c049dfdac95be5c9e0dfe1089279279e608e0688dd6f2dea723801f8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:16:32.183903Z","signature_b64":"Ji4pkZ2W3GhmWD+bVv0oSzBouXSsMab0ts/nwMqyc6c4uMSPk2vfj81isuf/OcdWh7qZupScma5LnZf5SnOvAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"98f9f6c1c049dfdac95be5c9e0dfe1089279279e608e0688dd6f2dea723801f8","last_reissued_at":"2026-07-05T04:16:32.183402Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:16:32.183402Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.09617","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":"2026-07-05T04:16:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"filD5aGos/kq2EXCkP9oUZlqKMTGssq3nndiB9Q5SKDbCKivkXQW9/SuA6yM/avcodUJ3Iw2QBRFEV7pQ35nAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:07:37.785503Z"},"content_sha256":"21fa615062599da08ba4626ea25a86b8218eb94614e8115287875e46e1c3eede","schema_version":"1.0","event_id":"sha256:21fa615062599da08ba4626ea25a86b8218eb94614e8115287875e46e1c3eede"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:TD47NQOAJHP5VSK34XE6BX7BBC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CALI: Coarse-to-Fine ALIgnments Based Unsupervised Domain Adaptation of Traversability Prediction for Deployable Autonomous Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Durgakant Pushp, Lantao Liu, Zheng Chen","submitted_at":"2022-04-20T16:52:43Z","abstract_excerpt":"Traversability prediction is a fundamental perception capability for autonomous navigation. The diversity of data in different domains imposes significant gaps to the prediction performance of the perception model. In this work, we make efforts to reduce the gaps by proposing a novel coarse-to-fine unsupervised domain adaptation (UDA) model - CALI. Our aim is to transfer the perception model with high data efficiency, eliminate the prohibitively expensive data labeling, and improve the generalization capability during the adaptation from easy-to-obtain source domains to various challenging tar"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.09617","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/2204.09617/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":"2026-07-05T04:16:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Am12dFoRWGk16s3kbRZzSMGSoT3BrorMHCRirCJxGYtXP2C0hohJ5TbgPgbeDQ1KvqQk3kM26Qqx0N8r+XwpBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:07:37.786459Z"},"content_sha256":"578e1c2ed5beac1e4a6909b02fc0de3c869f403e04bbc26da55f83991af70a06","schema_version":"1.0","event_id":"sha256:578e1c2ed5beac1e4a6909b02fc0de3c869f403e04bbc26da55f83991af70a06"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TD47NQOAJHP5VSK34XE6BX7BBC/bundle.json","state_url":"https://pith.science/pith/TD47NQOAJHP5VSK34XE6BX7BBC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TD47NQOAJHP5VSK34XE6BX7BBC/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":"2026-08-07T04:07:37Z","links":{"resolver":"https://pith.science/pith/TD47NQOAJHP5VSK34XE6BX7BBC","bundle":"https://pith.science/pith/TD47NQOAJHP5VSK34XE6BX7BBC/bundle.json","state":"https://pith.science/pith/TD47NQOAJHP5VSK34XE6BX7BBC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TD47NQOAJHP5VSK34XE6BX7BBC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:TD47NQOAJHP5VSK34XE6BX7BBC","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":"f7103446c34103454aa845c5e627ad827a78f86a2d5fe6802a0ad7c7a7b5b432","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-20T16:52:43Z","title_canon_sha256":"e767c862726bf78e3823efedf05e635e66fb456dd1d10d8765cefd4af4accc62"},"schema_version":"1.0","source":{"id":"2204.09617","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.09617","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"arxiv_version","alias_value":"2204.09617v1","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.09617","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_12","alias_value":"TD47NQOAJHP5","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_16","alias_value":"TD47NQOAJHP5VSK3","created_at":"2026-07-05T04:16:32Z"},{"alias_kind":"pith_short_8","alias_value":"TD47NQOA","created_at":"2026-07-05T04:16:32Z"}],"graph_snapshots":[{"event_id":"sha256:578e1c2ed5beac1e4a6909b02fc0de3c869f403e04bbc26da55f83991af70a06","target":"graph","created_at":"2026-07-05T04:16:32Z","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/2204.09617/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Traversability prediction is a fundamental perception capability for autonomous navigation. The diversity of data in different domains imposes significant gaps to the prediction performance of the perception model. In this work, we make efforts to reduce the gaps by proposing a novel coarse-to-fine unsupervised domain adaptation (UDA) model - CALI. Our aim is to transfer the perception model with high data efficiency, eliminate the prohibitively expensive data labeling, and improve the generalization capability during the adaptation from easy-to-obtain source domains to various challenging tar","authors_text":"Durgakant Pushp, Lantao Liu, Zheng Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-20T16:52:43Z","title":"CALI: Coarse-to-Fine ALIgnments Based Unsupervised Domain Adaptation of Traversability Prediction for Deployable Autonomous Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.09617","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":"sha256:21fa615062599da08ba4626ea25a86b8218eb94614e8115287875e46e1c3eede","target":"record","created_at":"2026-07-05T04:16:32Z","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":"f7103446c34103454aa845c5e627ad827a78f86a2d5fe6802a0ad7c7a7b5b432","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-20T16:52:43Z","title_canon_sha256":"e767c862726bf78e3823efedf05e635e66fb456dd1d10d8765cefd4af4accc62"},"schema_version":"1.0","source":{"id":"2204.09617","kind":"arxiv","version":1}},"canonical_sha256":"98f9f6c1c049dfdac95be5c9e0dfe1089279279e608e0688dd6f2dea723801f8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"98f9f6c1c049dfdac95be5c9e0dfe1089279279e608e0688dd6f2dea723801f8","first_computed_at":"2026-07-05T04:16:32.183402Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:16:32.183402Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ji4pkZ2W3GhmWD+bVv0oSzBouXSsMab0ts/nwMqyc6c4uMSPk2vfj81isuf/OcdWh7qZupScma5LnZf5SnOvAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:16:32.183903Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.09617","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:21fa615062599da08ba4626ea25a86b8218eb94614e8115287875e46e1c3eede","sha256:578e1c2ed5beac1e4a6909b02fc0de3c869f403e04bbc26da55f83991af70a06"],"state_sha256":"eec9284e76b9d98cd05d87e9485aec426968e73f9482d4e44ddc76a1de5e59bc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Wwnl5oNoL7emIL2ukxyTH4txWHTtl+7fETZqIIka2mMia8lMJ6MbcQqcYiZzd56W/0F+d31g/hlOZ/2w1NP7AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T04:07:37.798246Z","bundle_sha256":"4330c1030bfcbdf6242c9a6f142c6004d23a491953e47a2733ec254c096cd553"}}