{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:B6TATWZOPJWFAN6CZNNAAX7GRI","short_pith_number":"pith:B6TATWZO","canonical_record":{"source":{"id":"2412.12799","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-12-17T11:02:36Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"af875a752e0ae2ad57eb9be5149bb2ea423e6525af617fd489ee49a0a792b9b2","abstract_canon_sha256":"79bcd7b89ba59f86dfec4047e7dad92b08f707aeae0a62e6e225cde4b5b8e8b6"},"schema_version":"1.0"},"canonical_sha256":"0fa609db2e7a6c5037c2cb5a005fe68a1263e8a3804de28b4e5405e09e2754eb","source":{"kind":"arxiv","id":"2412.12799","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.12799","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"arxiv_version","alias_value":"2412.12799v1","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.12799","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_12","alias_value":"B6TATWZOPJWF","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_16","alias_value":"B6TATWZOPJWFAN6C","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_8","alias_value":"B6TATWZO","created_at":"2026-07-05T09:50:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:B6TATWZOPJWFAN6CZNNAAX7GRI","target":"record","payload":{"canonical_record":{"source":{"id":"2412.12799","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-12-17T11:02:36Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"af875a752e0ae2ad57eb9be5149bb2ea423e6525af617fd489ee49a0a792b9b2","abstract_canon_sha256":"79bcd7b89ba59f86dfec4047e7dad92b08f707aeae0a62e6e225cde4b5b8e8b6"},"schema_version":"1.0"},"canonical_sha256":"0fa609db2e7a6c5037c2cb5a005fe68a1263e8a3804de28b4e5405e09e2754eb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:50:20.868428Z","signature_b64":"ylw0onfycNh7idYtt/JpPiBneeoPbbF5s1KseWBxTOVAq0a02xJwY7AqBxmDeeQrp1kp/B0jRSZ+zLgXJJEMCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0fa609db2e7a6c5037c2cb5a005fe68a1263e8a3804de28b4e5405e09e2754eb","last_reissued_at":"2026-07-05T09:50:20.867995Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:50:20.867995Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.12799","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":"2026-07-05T09:50:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"11hmxvo8IUPFPwjArHZwATlEsSLJBTYxjuODSsV5vF1GyAOJC1mWBwBV3zah2jX+d1KLHe6TYSk+KUKzzRLkBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T18:26:37.573880Z"},"content_sha256":"dbfd2ab1b6fbd51544fcd9f0e5b18192832c9343a088389a943ada55b5daae93","schema_version":"1.0","event_id":"sha256:dbfd2ab1b6fbd51544fcd9f0e5b18192832c9343a088389a943ada55b5daae93"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:B6TATWZOPJWFAN6CZNNAAX7GRI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RCTrans: Radar-Camera Transformer via Radar Densifier and Sequential Decoder for 3D Object Detection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.CV","authors_text":"Yang Yang, Yiheng Li, Zhen Lei","submitted_at":"2024-12-17T11:02:36Z","abstract_excerpt":"In radar-camera 3D object detection, the radar point clouds are sparse and noisy, which causes difficulties in fusing camera and radar modalities. To solve this, we introduce a novel query-based detection method named Radar-Camera Transformer (RCTrans). Specifically, we first design a Radar Dense Encoder to enrich the sparse valid radar tokens, and then concatenate them with the image tokens. By doing this, we can fully explore the 3D information of each interest region and reduce the interference of empty tokens during the fusing stage. We then design a Pruning Sequential Decoder to predict 3"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.12799","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/2412.12799/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":"2026-07-05T09:50:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cSrrOkA1PH1C41A/OQDp1AW6TPkscMrieSihx7RZUbTTr70fwjjc0NGD6bhbQ+PkKfP0aYwVx2Lv15IhoP7KDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T18:26:37.574766Z"},"content_sha256":"444c9e44382280c942db3ffdbe8f9edc401f9a578b08c9840db6d7f11932acc1","schema_version":"1.0","event_id":"sha256:444c9e44382280c942db3ffdbe8f9edc401f9a578b08c9840db6d7f11932acc1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/bundle.json","state_url":"https://pith.science/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/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":"2026-08-12T18:26:37Z","links":{"resolver":"https://pith.science/pith/B6TATWZOPJWFAN6CZNNAAX7GRI","bundle":"https://pith.science/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/bundle.json","state":"https://pith.science/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B6TATWZOPJWFAN6CZNNAAX7GRI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:B6TATWZOPJWFAN6CZNNAAX7GRI","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":"79bcd7b89ba59f86dfec4047e7dad92b08f707aeae0a62e6e225cde4b5b8e8b6","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-12-17T11:02:36Z","title_canon_sha256":"af875a752e0ae2ad57eb9be5149bb2ea423e6525af617fd489ee49a0a792b9b2"},"schema_version":"1.0","source":{"id":"2412.12799","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.12799","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"arxiv_version","alias_value":"2412.12799v1","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.12799","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_12","alias_value":"B6TATWZOPJWF","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_16","alias_value":"B6TATWZOPJWFAN6C","created_at":"2026-07-05T09:50:20Z"},{"alias_kind":"pith_short_8","alias_value":"B6TATWZO","created_at":"2026-07-05T09:50:20Z"}],"graph_snapshots":[{"event_id":"sha256:444c9e44382280c942db3ffdbe8f9edc401f9a578b08c9840db6d7f11932acc1","target":"graph","created_at":"2026-07-05T09:50:20Z","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/2412.12799/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In radar-camera 3D object detection, the radar point clouds are sparse and noisy, which causes difficulties in fusing camera and radar modalities. To solve this, we introduce a novel query-based detection method named Radar-Camera Transformer (RCTrans). Specifically, we first design a Radar Dense Encoder to enrich the sparse valid radar tokens, and then concatenate them with the image tokens. By doing this, we can fully explore the 3D information of each interest region and reduce the interference of empty tokens during the fusing stage. We then design a Pruning Sequential Decoder to predict 3","authors_text":"Yang Yang, Yiheng Li, Zhen Lei","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-12-17T11:02:36Z","title":"RCTrans: Radar-Camera Transformer via Radar Densifier and Sequential Decoder for 3D Object Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.12799","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:dbfd2ab1b6fbd51544fcd9f0e5b18192832c9343a088389a943ada55b5daae93","target":"record","created_at":"2026-07-05T09:50:20Z","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":"79bcd7b89ba59f86dfec4047e7dad92b08f707aeae0a62e6e225cde4b5b8e8b6","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-12-17T11:02:36Z","title_canon_sha256":"af875a752e0ae2ad57eb9be5149bb2ea423e6525af617fd489ee49a0a792b9b2"},"schema_version":"1.0","source":{"id":"2412.12799","kind":"arxiv","version":1}},"canonical_sha256":"0fa609db2e7a6c5037c2cb5a005fe68a1263e8a3804de28b4e5405e09e2754eb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0fa609db2e7a6c5037c2cb5a005fe68a1263e8a3804de28b4e5405e09e2754eb","first_computed_at":"2026-07-05T09:50:20.867995Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:50:20.867995Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ylw0onfycNh7idYtt/JpPiBneeoPbbF5s1KseWBxTOVAq0a02xJwY7AqBxmDeeQrp1kp/B0jRSZ+zLgXJJEMCA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:50:20.868428Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.12799","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dbfd2ab1b6fbd51544fcd9f0e5b18192832c9343a088389a943ada55b5daae93","sha256:444c9e44382280c942db3ffdbe8f9edc401f9a578b08c9840db6d7f11932acc1"],"state_sha256":"aa747b46338d25a865fce8c385415fd04ecd17da6d37fb47489735f340c10857"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cfZmZSCKbhI6lJG/BvMgtCYYCwRoAhz6qGis/Q/IrUisCb2kHBSZqVd67DhygOnCB5dSUfw82qCcfv5Xhk3vBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T18:26:37.583795Z","bundle_sha256":"c51d97ee21af35719a7b55de84e7946b60a857f8bb7feaae2109a8ea0334430f"}}