{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZBNNOHEC32PULQJQLQR577NJUB","short_pith_number":"pith:ZBNNOHEC","canonical_record":{"source":{"id":"2409.18592","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-09-27T09:51:45Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"02baae629e38479104cf57c1ec2c0932af240b8e2349468569745775efa1f1de","abstract_canon_sha256":"d85e9c643e4b18071d59101dd0f6fbf40b115ee32676b48b99b18e99f84ecfc1"},"schema_version":"1.0"},"canonical_sha256":"c85ad71c82de9f45c1305c23dffda9a0738d83afc38aff0a07cd66fbb49abff1","source":{"kind":"arxiv","id":"2409.18592","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.18592","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"arxiv_version","alias_value":"2409.18592v2","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.18592","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_12","alias_value":"ZBNNOHEC32PU","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_16","alias_value":"ZBNNOHEC32PULQJQ","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_8","alias_value":"ZBNNOHEC","created_at":"2026-07-05T10:04:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZBNNOHEC32PULQJQLQR577NJUB","target":"record","payload":{"canonical_record":{"source":{"id":"2409.18592","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-09-27T09:51:45Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"02baae629e38479104cf57c1ec2c0932af240b8e2349468569745775efa1f1de","abstract_canon_sha256":"d85e9c643e4b18071d59101dd0f6fbf40b115ee32676b48b99b18e99f84ecfc1"},"schema_version":"1.0"},"canonical_sha256":"c85ad71c82de9f45c1305c23dffda9a0738d83afc38aff0a07cd66fbb49abff1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:04:58.040341Z","signature_b64":"2KPMPo2CrNGK5HiRifUDr17pJgl832fytBu5fxR3UEAY9fuQN10uZHFw59aDIITL/chYS10u5QTBwRNCOxUDAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c85ad71c82de9f45c1305c23dffda9a0738d83afc38aff0a07cd66fbb49abff1","last_reissued_at":"2026-07-05T10:04:58.039896Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:04:58.039896Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.18592","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:04:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iMKJo7EI8bRnbTABGh/cdKPorwWc4Jz0LJhYyo5NCwqEjJT2lh+zAFNeE4HCshtwlIix4xe2Kauo01W+oOQWAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:45:56.115602Z"},"content_sha256":"6461390c19a04eb17a6557cfb452b3f041f1030b531f00cd335c44570d3159f9","schema_version":"1.0","event_id":"sha256:6461390c19a04eb17a6557cfb452b3f041f1030b531f00cd335c44570d3159f9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZBNNOHEC32PULQJQLQR577NJUB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From One to the Power of Many: Invariance to Multi-LiDAR Perception from Single-Sensor Datasets","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"J. Marius Z\\\"ollner, Marc Uecker","submitted_at":"2024-09-27T09:51:45Z","abstract_excerpt":"Recently, LiDAR segmentation methods for autonomous vehicles, powered by deep neural networks, have experienced steep growth in performance on classic benchmarks, such as nuScenes and SemanticKITTI. However, there are still large gaps in performance when deploying models trained on such single-sensor setups to modern vehicles with multiple high-resolution LiDAR sensors. In this work, we introduce a new metric for feature-level invariance which can serve as a proxy to measure cross-domain generalization without requiring labeled data. Additionally, we propose two application-specific data augme"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.18592","kind":"arxiv","version":2},"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/2409.18592/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":"2026-07-05T10:04:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1LO4G2Lu5awsswQlGD0vyuBXOamhafYxWtbUVZbZVHghsZj9ZHNfTsKKIAqsmrtglAIE376adap7KqXw3tWaDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:45:56.116007Z"},"content_sha256":"a95ed236909ce8e65de927bb1308336dd3a065f9014772f2a36d2350fc1b9f6f","schema_version":"1.0","event_id":"sha256:a95ed236909ce8e65de927bb1308336dd3a065f9014772f2a36d2350fc1b9f6f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZBNNOHEC32PULQJQLQR577NJUB/bundle.json","state_url":"https://pith.science/pith/ZBNNOHEC32PULQJQLQR577NJUB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZBNNOHEC32PULQJQLQR577NJUB/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":"2026-07-05T15:45:56Z","links":{"resolver":"https://pith.science/pith/ZBNNOHEC32PULQJQLQR577NJUB","bundle":"https://pith.science/pith/ZBNNOHEC32PULQJQLQR577NJUB/bundle.json","state":"https://pith.science/pith/ZBNNOHEC32PULQJQLQR577NJUB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZBNNOHEC32PULQJQLQR577NJUB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZBNNOHEC32PULQJQLQR577NJUB","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":"d85e9c643e4b18071d59101dd0f6fbf40b115ee32676b48b99b18e99f84ecfc1","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-09-27T09:51:45Z","title_canon_sha256":"02baae629e38479104cf57c1ec2c0932af240b8e2349468569745775efa1f1de"},"schema_version":"1.0","source":{"id":"2409.18592","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.18592","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"arxiv_version","alias_value":"2409.18592v2","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.18592","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_12","alias_value":"ZBNNOHEC32PU","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_16","alias_value":"ZBNNOHEC32PULQJQ","created_at":"2026-07-05T10:04:58Z"},{"alias_kind":"pith_short_8","alias_value":"ZBNNOHEC","created_at":"2026-07-05T10:04:58Z"}],"graph_snapshots":[{"event_id":"sha256:a95ed236909ce8e65de927bb1308336dd3a065f9014772f2a36d2350fc1b9f6f","target":"graph","created_at":"2026-07-05T10:04:58Z","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/2409.18592/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, LiDAR segmentation methods for autonomous vehicles, powered by deep neural networks, have experienced steep growth in performance on classic benchmarks, such as nuScenes and SemanticKITTI. However, there are still large gaps in performance when deploying models trained on such single-sensor setups to modern vehicles with multiple high-resolution LiDAR sensors. In this work, we introduce a new metric for feature-level invariance which can serve as a proxy to measure cross-domain generalization without requiring labeled data. Additionally, we propose two application-specific data augme","authors_text":"J. Marius Z\\\"ollner, Marc Uecker","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-09-27T09:51:45Z","title":"From One to the Power of Many: Invariance to Multi-LiDAR Perception from Single-Sensor Datasets"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.18592","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":"sha256:6461390c19a04eb17a6557cfb452b3f041f1030b531f00cd335c44570d3159f9","target":"record","created_at":"2026-07-05T10:04:58Z","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":"d85e9c643e4b18071d59101dd0f6fbf40b115ee32676b48b99b18e99f84ecfc1","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2024-09-27T09:51:45Z","title_canon_sha256":"02baae629e38479104cf57c1ec2c0932af240b8e2349468569745775efa1f1de"},"schema_version":"1.0","source":{"id":"2409.18592","kind":"arxiv","version":2}},"canonical_sha256":"c85ad71c82de9f45c1305c23dffda9a0738d83afc38aff0a07cd66fbb49abff1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c85ad71c82de9f45c1305c23dffda9a0738d83afc38aff0a07cd66fbb49abff1","first_computed_at":"2026-07-05T10:04:58.039896Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:04:58.039896Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2KPMPo2CrNGK5HiRifUDr17pJgl832fytBu5fxR3UEAY9fuQN10uZHFw59aDIITL/chYS10u5QTBwRNCOxUDAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:04:58.040341Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.18592","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6461390c19a04eb17a6557cfb452b3f041f1030b531f00cd335c44570d3159f9","sha256:a95ed236909ce8e65de927bb1308336dd3a065f9014772f2a36d2350fc1b9f6f"],"state_sha256":"9394aa1ce93e7775a9c18a41010bbb855bdfa5b18a023c3755f43dec74c7ca25"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2v9YqEKAIOm11A9IeksNMDaZ1lcvuInW9pArP+Wu241HbkzzQWY4lh1oreeO2X+0V+e4xAeOXrQ+mLMBa3HTDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T15:45:56.118596Z","bundle_sha256":"2be1f8e3dd5d3ee9a7cf12a00dd417a70bcb335a0c58b8585926c7abbd101c89"}}