{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:3WDKVUJGX3QF6BGDZAXJW3UEMZ","short_pith_number":"pith:3WDKVUJG","canonical_record":{"source":{"id":"2012.04983","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.LG","submitted_at":"2020-12-09T11:19:50Z","cross_cats_sorted":["cs.AI","cs.CV","cs.RO"],"title_canon_sha256":"7e8ab972c6066ae828b0cad3ca8e239bcabeaba7431a6955508f03d4b04ca021","abstract_canon_sha256":"c37fea5c907d0cda9534198dc8f68da56c4c14dc8958ddbaeac5eb16d39f5fbc"},"schema_version":"1.0"},"canonical_sha256":"dd86aad126bee05f04c3c82e9b6e8466729175e0f75ad1e1ffd5de2cc2c8f404","source":{"kind":"arxiv","id":"2012.04983","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.04983","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"arxiv_version","alias_value":"2012.04983v1","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.04983","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_12","alias_value":"3WDKVUJGX3QF","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_16","alias_value":"3WDKVUJGX3QF6BGD","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_8","alias_value":"3WDKVUJG","created_at":"2026-07-05T03:34:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:3WDKVUJGX3QF6BGDZAXJW3UEMZ","target":"record","payload":{"canonical_record":{"source":{"id":"2012.04983","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.LG","submitted_at":"2020-12-09T11:19:50Z","cross_cats_sorted":["cs.AI","cs.CV","cs.RO"],"title_canon_sha256":"7e8ab972c6066ae828b0cad3ca8e239bcabeaba7431a6955508f03d4b04ca021","abstract_canon_sha256":"c37fea5c907d0cda9534198dc8f68da56c4c14dc8958ddbaeac5eb16d39f5fbc"},"schema_version":"1.0"},"canonical_sha256":"dd86aad126bee05f04c3c82e9b6e8466729175e0f75ad1e1ffd5de2cc2c8f404","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:34:05.379046Z","signature_b64":"3IrE8Qxdg7UrG5TUvSmBLe4CjCD+xpKTObdPj8lflfPVU0Rg2dQK7RPrvWJWKf3Ece2JyDHLpFJuUgn2V+/IBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dd86aad126bee05f04c3c82e9b6e8466729175e0f75ad1e1ffd5de2cc2c8f404","last_reissued_at":"2026-07-05T03:34:05.378628Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:34:05.378628Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2012.04983","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":"2026-07-05T03:34:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7c+fjvvtaIS2VnwglKSDreobgvkW5wXQEq4KQ/le46QT2DQluIlqculynT4RboCqi0dJG7XgrG6tGZnRUfTPBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:22:23.977790Z"},"content_sha256":"044393d7d3eae57873f5addcdd54b137d04166714c3d302e610c64ef016b8a07","schema_version":"1.0","event_id":"sha256:044393d7d3eae57873f5addcdd54b137d04166714c3d302e610c64ef016b8a07"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:3WDKVUJGX3QF6BGDZAXJW3UEMZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Driving Behavior Explanation with Multi-level Fusion","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.RO"],"primary_cat":"cs.LG","authors_text":"\\'Eloi Zablocki, H\\'edi Ben-Younes, Matthieu Cord, Patrick P\\'erez","submitted_at":"2020-12-09T11:19:50Z","abstract_excerpt":"In this era of active development of autonomous vehicles, it becomes crucial to provide driving systems with the capacity to explain their decisions. In this work, we focus on generating high-level driving explanations as the vehicle drives. We present BEEF, for BEhavior Explanation with Fusion, a deep architecture which explains the behavior of a trajectory prediction model. Supervised by annotations of human driving decisions justifications, BEEF learns to fuse features from multiple levels. Leveraging recent advances in the multi-modal fusion literature, BEEF is carefully designed to model "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.04983","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/2012.04983/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":"2026-07-05T03:34:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YVKb7PNRcvmlpNszlnavrYXKTHdBdWc7ed0f5MsX4LfiepAKUc6nmiZVBdoRO1kM0hHsxFjVR/CcwAYaWZrhCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:22:23.978447Z"},"content_sha256":"8cfb8ce53c720515b81da5fa584f0911d9f4a2601a5edb3d3d0697054b80b8f6","schema_version":"1.0","event_id":"sha256:8cfb8ce53c720515b81da5fa584f0911d9f4a2601a5edb3d3d0697054b80b8f6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/bundle.json","state_url":"https://pith.science/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/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":"2026-07-07T07:22:23Z","links":{"resolver":"https://pith.science/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ","bundle":"https://pith.science/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/bundle.json","state":"https://pith.science/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3WDKVUJGX3QF6BGDZAXJW3UEMZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:3WDKVUJGX3QF6BGDZAXJW3UEMZ","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":"c37fea5c907d0cda9534198dc8f68da56c4c14dc8958ddbaeac5eb16d39f5fbc","cross_cats_sorted":["cs.AI","cs.CV","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.LG","submitted_at":"2020-12-09T11:19:50Z","title_canon_sha256":"7e8ab972c6066ae828b0cad3ca8e239bcabeaba7431a6955508f03d4b04ca021"},"schema_version":"1.0","source":{"id":"2012.04983","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.04983","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"arxiv_version","alias_value":"2012.04983v1","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.04983","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_12","alias_value":"3WDKVUJGX3QF","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_16","alias_value":"3WDKVUJGX3QF6BGD","created_at":"2026-07-05T03:34:05Z"},{"alias_kind":"pith_short_8","alias_value":"3WDKVUJG","created_at":"2026-07-05T03:34:05Z"}],"graph_snapshots":[{"event_id":"sha256:8cfb8ce53c720515b81da5fa584f0911d9f4a2601a5edb3d3d0697054b80b8f6","target":"graph","created_at":"2026-07-05T03:34:05Z","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/2012.04983/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this era of active development of autonomous vehicles, it becomes crucial to provide driving systems with the capacity to explain their decisions. In this work, we focus on generating high-level driving explanations as the vehicle drives. We present BEEF, for BEhavior Explanation with Fusion, a deep architecture which explains the behavior of a trajectory prediction model. Supervised by annotations of human driving decisions justifications, BEEF learns to fuse features from multiple levels. Leveraging recent advances in the multi-modal fusion literature, BEEF is carefully designed to model ","authors_text":"\\'Eloi Zablocki, H\\'edi Ben-Younes, Matthieu Cord, Patrick P\\'erez","cross_cats":["cs.AI","cs.CV","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.LG","submitted_at":"2020-12-09T11:19:50Z","title":"Driving Behavior Explanation with Multi-level Fusion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.04983","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":"sha256:044393d7d3eae57873f5addcdd54b137d04166714c3d302e610c64ef016b8a07","target":"record","created_at":"2026-07-05T03:34:05Z","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":"c37fea5c907d0cda9534198dc8f68da56c4c14dc8958ddbaeac5eb16d39f5fbc","cross_cats_sorted":["cs.AI","cs.CV","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.LG","submitted_at":"2020-12-09T11:19:50Z","title_canon_sha256":"7e8ab972c6066ae828b0cad3ca8e239bcabeaba7431a6955508f03d4b04ca021"},"schema_version":"1.0","source":{"id":"2012.04983","kind":"arxiv","version":1}},"canonical_sha256":"dd86aad126bee05f04c3c82e9b6e8466729175e0f75ad1e1ffd5de2cc2c8f404","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dd86aad126bee05f04c3c82e9b6e8466729175e0f75ad1e1ffd5de2cc2c8f404","first_computed_at":"2026-07-05T03:34:05.378628Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:34:05.378628Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3IrE8Qxdg7UrG5TUvSmBLe4CjCD+xpKTObdPj8lflfPVU0Rg2dQK7RPrvWJWKf3Ece2JyDHLpFJuUgn2V+/IBg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:34:05.379046Z","signed_message":"canonical_sha256_bytes"},"source_id":"2012.04983","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:044393d7d3eae57873f5addcdd54b137d04166714c3d302e610c64ef016b8a07","sha256:8cfb8ce53c720515b81da5fa584f0911d9f4a2601a5edb3d3d0697054b80b8f6"],"state_sha256":"ebdaf2cceae586b2bb96301ad9434512296da2ac712295298515fc7130f8a754"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sNdGUNK7i6ZjUX/i5TgnfgK20dBshfNasn7SYxqOW3w8bcig0tRQc8PC/cmVrOek7N1a08+/ni4u2VZlq+92DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T07:22:23.981747Z","bundle_sha256":"364345e2438067767e25ee09c03e2d2ea66ebf82f67a1ddcf7975bfbb48dfcbf"}}