{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:U6SZBR4TVTSPMFM6B4Z4435OIZ","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":"e8b8bceadd4282ce62349ef0c402bdf0ee462da78159b5cecfff0f42dc105fd7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-29T00:11:25Z","title_canon_sha256":"ff938eb179f4028d95d09cee4e9259506ee658b0ed7d1a888517125858e6cc48"},"schema_version":"1.0","source":{"id":"2105.14152","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.14152","created_at":"2026-07-05T02:54:18Z"},{"alias_kind":"arxiv_version","alias_value":"2105.14152v3","created_at":"2026-07-05T02:54:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.14152","created_at":"2026-07-05T02:54:18Z"},{"alias_kind":"pith_short_12","alias_value":"U6SZBR4TVTSP","created_at":"2026-07-05T02:54:18Z"},{"alias_kind":"pith_short_16","alias_value":"U6SZBR4TVTSPMFM6","created_at":"2026-07-05T02:54:18Z"},{"alias_kind":"pith_short_8","alias_value":"U6SZBR4T","created_at":"2026-07-05T02:54:18Z"}],"graph_snapshots":[{"event_id":"sha256:45f71fcb786c8dcff3308b5a19f0441484137ec7d2ab395666731fb22b1c0985","target":"graph","created_at":"2026-07-05T02:54:18Z","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/2105.14152/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar data. With its theoretical foundation based on a data likelihood objective, our method leverages a deep network for processing rich radar data, and a non-differentiable classic estimator for probabilistic inference. We provide extensive experimental results on both the publicly available Oxford Radar RobotCar Dataset and an additional 100 km of driving coll","authors_text":"Angela P. Schoellig, David J. Yoon, Keenan Burnett, Timothy D. Barfoot","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-29T00:11:25Z","title":"Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.14152","kind":"arxiv","version":3},"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":"sha256:0bad9d751de660f659938118b30893728c73206833fc2ebd1ff3d06f42d82482","target":"record","created_at":"2026-07-05T02:54:18Z","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":"e8b8bceadd4282ce62349ef0c402bdf0ee462da78159b5cecfff0f42dc105fd7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-29T00:11:25Z","title_canon_sha256":"ff938eb179f4028d95d09cee4e9259506ee658b0ed7d1a888517125858e6cc48"},"schema_version":"1.0","source":{"id":"2105.14152","kind":"arxiv","version":3}},"canonical_sha256":"a7a590c793ace4f6159e0f33ce6fae46668fe728755a18b347ad388080a70729","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a7a590c793ace4f6159e0f33ce6fae46668fe728755a18b347ad388080a70729","first_computed_at":"2026-07-05T02:54:18.033639Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:54:18.033639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vHy3m6Ue6HU48K87HKcVCKfIlSBZkmMb6SrZFYiP6ApqbkZtKl7BgV7E86Kjw5ZbkqUKKjnVtUhCUn2R2ZdUBA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:54:18.034071Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.14152","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0bad9d751de660f659938118b30893728c73206833fc2ebd1ff3d06f42d82482","sha256:45f71fcb786c8dcff3308b5a19f0441484137ec7d2ab395666731fb22b1c0985"],"state_sha256":"605b4f475d20bbf5392c5d91af2da376bf6c517c9a64379673a4a6fc3bf2e661"}