{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TRTOSQXJO7D4N5SM2NWP2FJOSK","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":"98089849c22102b8d8989e667bc885e6e98233c3e59f9493a294c96e14dc9a9a","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-09-21T04:04:47Z","title_canon_sha256":"71d6af9e39be6fa62d83658ca291acd141e9d5d2a59fb911658a663a5667617c"},"schema_version":"1.0","source":{"id":"2509.16909","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.16909","created_at":"2026-07-28T01:23:25Z"},{"alias_kind":"arxiv_version","alias_value":"2509.16909v2","created_at":"2026-07-28T01:23:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.16909","created_at":"2026-07-28T01:23:25Z"},{"alias_kind":"pith_short_12","alias_value":"TRTOSQXJO7D4","created_at":"2026-07-28T01:23:25Z"},{"alias_kind":"pith_short_16","alias_value":"TRTOSQXJO7D4N5SM","created_at":"2026-07-28T01:23:25Z"},{"alias_kind":"pith_short_8","alias_value":"TRTOSQXJ","created_at":"2026-07-28T01:23:25Z"}],"graph_snapshots":[{"event_id":"sha256:6b2c774014976f0739d96513ca6ae2de20aca1fd0055cec7284f12a1148175ca","target":"graph","created_at":"2026-07-28T01:23:25Z","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/2509.16909/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present SLAM-Former, a neural approach that integrates full SLAM capabilities into a single transformer. Similar to traditional SLAM systems, SLAM-Former comprises both a frontend and a back-end that operate in tandem. The frontend processes sequential monocular images in real-time for incremental mapping and tracking, while the backend performs global refinement to ensure a geometrically consistent result. This alternating execution allows the frontend and back-end to mutually promote one another, enhancing overall system performance. Comprehensive experimental results demonstrate that SLA","authors_text":"Hang Zhao, Kenan Li, Minghui Qin, Weibang Wang, Weicheng Zheng, Yijun Yuan, Zhijian Fang, Zhuoguang Chen","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-09-21T04:04:47Z","title":"SLAM-Former: Putting SLAM into One Transformer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.16909","kind":"arxiv","version":2},"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:b1561d6bc3775fba0b824203f2bdb61b7b0379fb6c72dfdf98642d0ebf1a8957","target":"record","created_at":"2026-07-28T01:23:25Z","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":"98089849c22102b8d8989e667bc885e6e98233c3e59f9493a294c96e14dc9a9a","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-09-21T04:04:47Z","title_canon_sha256":"71d6af9e39be6fa62d83658ca291acd141e9d5d2a59fb911658a663a5667617c"},"schema_version":"1.0","source":{"id":"2509.16909","kind":"arxiv","version":2}},"canonical_sha256":"9c66e942e977c7c6f64cd36cfd152e929a5fd541a59328f95df87c0ae512c6d6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c66e942e977c7c6f64cd36cfd152e929a5fd541a59328f95df87c0ae512c6d6","first_computed_at":"2026-07-28T01:23:25.741631Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-28T01:23:25.741631Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Jy/HEwMM8rvskV4Jxo8DIMKrnU9GudMjh7zWTZfA/mkOzOWJT7u3ESGYGes0ARTUdr5SnRKjJxzKMkAevyHgCA==","signature_status":"signed_v1","signed_at":"2026-07-28T01:23:25.742582Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.16909","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b1561d6bc3775fba0b824203f2bdb61b7b0379fb6c72dfdf98642d0ebf1a8957","sha256:6b2c774014976f0739d96513ca6ae2de20aca1fd0055cec7284f12a1148175ca"],"state_sha256":"159b921bc196544097f654123ff491b9db02387d71f76bb89cc2fec37de79828"}