{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_7565075a919fcd85953e6f48e52440ff82cec4835557bb4f84b948b75468756a","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_7565075a919fcd85953e6f48e52440ff82cec4835557bb4f84b948b75468756a","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"d1788d3baacecf0c98e4752e286c01184c10633cfdd5069336fc2c7911a970b4","published":"Mon, 13 Jul 2026 00:00:00 -0400","receipt_hash":"d1788d3baacecf0c98e4752e286c01184c10633cfdd5069336fc2c7911a970b4","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"d1788d3baacecf0c98e4752e286c01184c10633cfdd5069336fc2c7911a970b4","observed_at":"2026-07-13T04:43:08.394955Z","parent_run_hash":"900c1c934245e788564e199a9619f2dc36ec91d9804ddd9c6a40fb42c8a1e1c0","published":"Mon, 13 Jul 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2607.09629v1 Announce Type: cross \nAbstract: Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout. Recently, 4D millimeter-wave radar has emerged as a robust and affordable sensor, yet its sparse returns make radar-camera fusion necessary for comprehensive scene understanding. Existing radar-camera methods mainly optimize detection, while dual-task systems usually decode boxes and occupancy with limited interaction. To address this gap and advance radar-based multi-task learning, we propose \\method, a 4D radar-camera framework for 360$^\\circ$ full-scene perception, which models semantic occupancy as a persistent scene state rather than a terminal output. \\method{} follows a cross-modal state reasoning paradigm, where the occupancy state is modeled and propagated through stages for coarse-to-fine feature aggregation. Specifically, State-guided BEV Enhancement (SBE) strengthens intra-frame BEV representation, while Do","title":"4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception","url":"https://arxiv.org/abs/2607.09629","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.09629v1 Announce Type: cross \nAbstract: Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout. Recently, 4D millimeter-wave radar has emerged as a robust and affordable sensor, yet its sparse returns make radar-camera fusion necessary for comprehensive scene understanding. Existing radar-camera methods mainly optimize detection, while dual-task systems usually decode boxes and occupancy with limited interaction. To address this gap and advance radar-based multi-task learning, we propose \\method, a 4D radar-camera framework for 360$^\\circ$ full-scene perception, which models semantic occupancy as a persistent scene state rather than a terminal output. \\method{} follows a cross-modal state reasoning paradigm, where the occupancy state is modeled and propagated through stages for coarse-to-fine feature aggregation. Specifically, State-guided BEV Enhancement (SBE) strengthens intra-frame BEV representation, while Do","title":"4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-13T04:43:08Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.09629"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:2a05029be8c806a3cb41f33b5f67b8415496d1518e04662d7a40a33078ed4b57adbae2c5791ef29c5ed7449d9dab86d2f419cbac9ee9d44d5f5f3cbaa546130c","signer":"crovia.substrate","subject":{"observed_at":"2026-07-13T04:43:08Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.09629"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"3612c903be7574aa3c9e9a65ee908676d8b043fff492bb0a91d8db7f5ba10cb1","leaf_index":309679,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"2ddf11206c5d491fdc3820f7811c2468ed2abf4cf82237b11c0f2c3fcce0c7de","side":"left"},{"sibling":"21a0ba6a12fa28fd8b62a5b7fce99c49e5aa2cd2f75eda65259efa380b035faa","side":"left"},{"sibling":"ddf91cc13b8d2783e2f082aad7f64458dd671f58620a776504413eb0a53735cc","side":"left"},{"sibling":"18e8eba95c31c1de067c7b111723c3e12fd4f38b538e9b3dfc10556d5eba771b","side":"left"},{"sibling":"ade4794d173c42e632d7e185c354b26ce0b5511a29667e60a600752aa4e1b258","side":"right"},{"sibling":"817e14c6ab3a66a77efac57ff4cc63efe5efe647afce47f5aefa03dc77fc1f24","side":"left"},{"sibling":"a06f2db4ff89b8806c463205a6d957aa0950263fff991c2aa1386688c611457f","side":"right"},{"sibling":"49f7764de5dea797b32547b8437f6d371cde9fb33ac6cf784651dcfa196b149a","side":"left"},{"sibling":"6cbb0c4695e74fa8ec17dfde89fa56c1958a1d4dffbbcbe3556da4a69c699ebc","side":"left"},{"sibling":"c4bde3283be97905033d39c1097ac73b82f180de8830384fe6f9f1933f7fa4b9","side":"right"},{"sibling":"3b5f968ebea87e7be458ef7e63c6637988d27ba6d170e1f3794d385cd76ca23f","side":"right"},{"sibling":"5ed534e945b31085c140b50460415e7960b76a4b6266da67d272b853dc94b352","side":"left"},{"sibling":"91010b271bc8eb5253b3549292ef3146e1d85bc9bac7ca36e0862f1204f84e8d","side":"left"},{"sibling":"772fbc112e94d8e574379343387c65503d3cf8fb16ff89090174eccced871a41","side":"left"},{"sibling":"5d50450cae1a230f682b390c8e28ae822ec6c0c04a9bc79b0d27af97306ccccd","side":"right"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"e9ac4b1e71d3f572751b7984e9ca00893d71628137b4634e82df02cf3db9ab68","side":"right"},{"sibling":"99ff86058e045249bf936a629308be31e4cc71328f0282c4a924f4e6718be5f0","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":309862,"merkle_root":"f18a76abb66e7cb448986b6541091416ed4ebdde8124f5208a7c7c94bb4165d1","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260713T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-13T05:38:23Z","sig_algorithm":"ed25519","signature":"0488e3527b1d559ba55116220f91e2f6c22bb5358a135e8a9b94a65450b50511702044fa993555662ebca09f005b277f5f6ad0d044ec96a5568e9993c09ef007","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_7565075a919fcd85953e6f48e52440ff82cec4835557bb4f84b948b75468756a"}}