{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YV7NJERSJX2FMC7R4R7J7LECWB","short_pith_number":"pith:YV7NJERS","canonical_record":{"source":{"id":"2505.24249","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-30T06:14:12Z","cross_cats_sorted":[],"title_canon_sha256":"92df85b628a2cc839ee6e27e0f305e1f3939ffc09cef76eac1a2efa2cd245559","abstract_canon_sha256":"ed0ddb1548fdcd0dcc0631e0d2c74e44a2e94ed9bd4217c471b5b7e3d80e713c"},"schema_version":"1.0"},"canonical_sha256":"c57ed492324df4560bf1e47e9fac82b061832c51a97247311972defa13a0d9d2","source":{"kind":"arxiv","id":"2505.24249","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.24249","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"arxiv_version","alias_value":"2505.24249v1","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.24249","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_12","alias_value":"YV7NJERSJX2F","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_16","alias_value":"YV7NJERSJX2FMC7R","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_8","alias_value":"YV7NJERS","created_at":"2026-07-05T11:12:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YV7NJERSJX2FMC7R4R7J7LECWB","target":"record","payload":{"canonical_record":{"source":{"id":"2505.24249","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-30T06:14:12Z","cross_cats_sorted":[],"title_canon_sha256":"92df85b628a2cc839ee6e27e0f305e1f3939ffc09cef76eac1a2efa2cd245559","abstract_canon_sha256":"ed0ddb1548fdcd0dcc0631e0d2c74e44a2e94ed9bd4217c471b5b7e3d80e713c"},"schema_version":"1.0"},"canonical_sha256":"c57ed492324df4560bf1e47e9fac82b061832c51a97247311972defa13a0d9d2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:12:45.048032Z","signature_b64":"kWRRfEzV+yWhgN2PDC9ZDG9Dukf2Lzi2otbWvgd1E3mO+j+s7h5XVgLew8UaQUyTdAYjZ4nDsTKRtC6dTtgNDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c57ed492324df4560bf1e47e9fac82b061832c51a97247311972defa13a0d9d2","last_reissued_at":"2026-07-05T11:12:45.047508Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:12:45.047508Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.24249","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":"2026-07-05T11:12:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o7YD7041K48nD2aywXY/RQ7xSovttrvSybcqxkjYV1W9GJCro5zjnVjlrW4m5mOkLnBYVhES4GXzZ84DhVuTAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T10:15:38.249613Z"},"content_sha256":"515f67531eab857001de4bae9cb35f0312445395fafb09bd505147c8d0013af4","schema_version":"1.0","event_id":"sha256:515f67531eab857001de4bae9cb35f0312445395fafb09bd505147c8d0013af4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YV7NJERSJX2FMC7R4R7J7LECWB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Harnessing Foundation Models for Robust and Generalizable 6-DOF Bronchoscopy Localization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Bingyu Yang, Hongbin Liu, Huai Liao, Qingyao Tian, Xinyan Huang","submitted_at":"2025-05-30T06:14:12Z","abstract_excerpt":"Vision-based 6-DOF bronchoscopy localization offers a promising solution for accurate and cost-effective interventional guidance. However, existing methods struggle with 1) limited generalization across patient cases due to scarce labeled data, and 2) poor robustness under visual degradation, as bronchoscopy procedures frequently involve artifacts such as occlusions and motion blur that impair visual information. To address these challenges, we propose PANSv2, a generalizable and robust bronchoscopy localization framework. Motivated by PANS that leverages multiple visual cues for pose likeliho"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.24249","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/2505.24249/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":"2026-07-05T11:12:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DYuDYzxxiL3zpyodfQDUYH5jr5C+oIAmQqBe2rFr1P/92TFr8GeGyoHi1erFxrWG8RLOAPyzn8tmZ0CK1ttLAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T10:15:38.250324Z"},"content_sha256":"077420b2e6c29c0f5328ad7b3a796befc533d4a175663172afc44fc480558e1f","schema_version":"1.0","event_id":"sha256:077420b2e6c29c0f5328ad7b3a796befc533d4a175663172afc44fc480558e1f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YV7NJERSJX2FMC7R4R7J7LECWB/bundle.json","state_url":"https://pith.science/pith/YV7NJERSJX2FMC7R4R7J7LECWB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YV7NJERSJX2FMC7R4R7J7LECWB/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":"2026-08-08T10:15:38Z","links":{"resolver":"https://pith.science/pith/YV7NJERSJX2FMC7R4R7J7LECWB","bundle":"https://pith.science/pith/YV7NJERSJX2FMC7R4R7J7LECWB/bundle.json","state":"https://pith.science/pith/YV7NJERSJX2FMC7R4R7J7LECWB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YV7NJERSJX2FMC7R4R7J7LECWB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YV7NJERSJX2FMC7R4R7J7LECWB","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":"ed0ddb1548fdcd0dcc0631e0d2c74e44a2e94ed9bd4217c471b5b7e3d80e713c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-30T06:14:12Z","title_canon_sha256":"92df85b628a2cc839ee6e27e0f305e1f3939ffc09cef76eac1a2efa2cd245559"},"schema_version":"1.0","source":{"id":"2505.24249","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.24249","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"arxiv_version","alias_value":"2505.24249v1","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.24249","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_12","alias_value":"YV7NJERSJX2F","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_16","alias_value":"YV7NJERSJX2FMC7R","created_at":"2026-07-05T11:12:45Z"},{"alias_kind":"pith_short_8","alias_value":"YV7NJERS","created_at":"2026-07-05T11:12:45Z"}],"graph_snapshots":[{"event_id":"sha256:077420b2e6c29c0f5328ad7b3a796befc533d4a175663172afc44fc480558e1f","target":"graph","created_at":"2026-07-05T11:12:45Z","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/2505.24249/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-based 6-DOF bronchoscopy localization offers a promising solution for accurate and cost-effective interventional guidance. However, existing methods struggle with 1) limited generalization across patient cases due to scarce labeled data, and 2) poor robustness under visual degradation, as bronchoscopy procedures frequently involve artifacts such as occlusions and motion blur that impair visual information. To address these challenges, we propose PANSv2, a generalizable and robust bronchoscopy localization framework. Motivated by PANS that leverages multiple visual cues for pose likeliho","authors_text":"Bingyu Yang, Hongbin Liu, Huai Liao, Qingyao Tian, Xinyan Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-30T06:14:12Z","title":"Harnessing Foundation Models for Robust and Generalizable 6-DOF Bronchoscopy Localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.24249","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":"sha256:515f67531eab857001de4bae9cb35f0312445395fafb09bd505147c8d0013af4","target":"record","created_at":"2026-07-05T11:12:45Z","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":"ed0ddb1548fdcd0dcc0631e0d2c74e44a2e94ed9bd4217c471b5b7e3d80e713c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2025-05-30T06:14:12Z","title_canon_sha256":"92df85b628a2cc839ee6e27e0f305e1f3939ffc09cef76eac1a2efa2cd245559"},"schema_version":"1.0","source":{"id":"2505.24249","kind":"arxiv","version":1}},"canonical_sha256":"c57ed492324df4560bf1e47e9fac82b061832c51a97247311972defa13a0d9d2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c57ed492324df4560bf1e47e9fac82b061832c51a97247311972defa13a0d9d2","first_computed_at":"2026-07-05T11:12:45.047508Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:12:45.047508Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kWRRfEzV+yWhgN2PDC9ZDG9Dukf2Lzi2otbWvgd1E3mO+j+s7h5XVgLew8UaQUyTdAYjZ4nDsTKRtC6dTtgNDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:12:45.048032Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.24249","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:515f67531eab857001de4bae9cb35f0312445395fafb09bd505147c8d0013af4","sha256:077420b2e6c29c0f5328ad7b3a796befc533d4a175663172afc44fc480558e1f"],"state_sha256":"16cec5c435eadef3b6df1db536c6603b2c87944a28cf060e2326f082cac51d20"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fFjlZ0ZM1yPrvMen3nVAMXFHBJeqgC4dxYjxfxfm7tmaVZjFZCZopRlhsKoXValW95cHcEUVRX7bM4/OmDjMCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T10:15:38.255898Z","bundle_sha256":"00f97d26e4b3f95833c457c9a73775fef0e6efcc2186a5415ae9787764d87cac"}}