{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:5CWBAXQ4JJB74Y2PKJ3O5UQQOS","short_pith_number":"pith:5CWBAXQ4","canonical_record":{"source":{"id":"2110.13939","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-26T18:07:48Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"fb224f9315644560e55bf880ab9d54928718cc15bd82bb6df549a15cc0d307e7","abstract_canon_sha256":"4dd6727cfc7119474143c5045c02e008922a7c5561ef8d0b9ac977bac6d20d71"},"schema_version":"1.0"},"canonical_sha256":"e8ac105e1c4a43fe634f5276eed210748f0655b41c9448d8cb38f2c8703c3269","source":{"kind":"arxiv","id":"2110.13939","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.13939","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"arxiv_version","alias_value":"2110.13939v3","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.13939","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_12","alias_value":"5CWBAXQ4JJB7","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_16","alias_value":"5CWBAXQ4JJB74Y2P","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_8","alias_value":"5CWBAXQ4","created_at":"2026-07-05T06:42:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:5CWBAXQ4JJB74Y2PKJ3O5UQQOS","target":"record","payload":{"canonical_record":{"source":{"id":"2110.13939","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-26T18:07:48Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"fb224f9315644560e55bf880ab9d54928718cc15bd82bb6df549a15cc0d307e7","abstract_canon_sha256":"4dd6727cfc7119474143c5045c02e008922a7c5561ef8d0b9ac977bac6d20d71"},"schema_version":"1.0"},"canonical_sha256":"e8ac105e1c4a43fe634f5276eed210748f0655b41c9448d8cb38f2c8703c3269","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:42:38.953693Z","signature_b64":"ckJZPYC3XX2bZ/jB4Gg8NbNKP2N3+LYQ5p9RnsRD0TOvXFA8Sq5Fi43YKbgr44fKoV2o4uWsXdkG2iIgJY3bBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e8ac105e1c4a43fe634f5276eed210748f0655b41c9448d8cb38f2c8703c3269","last_reissued_at":"2026-07-05T06:42:38.953249Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:42:38.953249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.13939","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:42:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BEx8uX7PP2/sgee4VT67iAilA3uMtrflOqJEAZuDPzoTFa3ai0Tjyij6qrvSXUCc0NT7k1FtlkQ1CXkUK4b6Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:07:44.679115Z"},"content_sha256":"cbdb3c36c23c82137a402d7ee5e3a3d3825e67476119d77a2ccc03c0ea760915","schema_version":"1.0","event_id":"sha256:cbdb3c36c23c82137a402d7ee5e3a3d3825e67476119d77a2ccc03c0ea760915"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:5CWBAXQ4JJB74Y2PKJ3O5UQQOS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CausalAF: Causal Autoregressive Flow for Safety-Critical Driving Scenario Generation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.CV","authors_text":"Bo Li, Ding Zhao, Haohong Lin, Wenhao Ding","submitted_at":"2021-10-26T18:07:48Z","abstract_excerpt":"Generating safety-critical scenarios, which are crucial yet difficult to collect, provides an effective way to evaluate the robustness of autonomous driving systems. However, the diversity of scenarios and efficiency of generation methods are heavily restricted by the rareness and structure of safety-critical scenarios. Therefore, existing generative models that only estimate distributions from observational data are not satisfying to solve this problem. In this paper, we integrate causality as a prior into the scenario generation and propose a flow-based generative framework, Causal Autoregre"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.13939","kind":"arxiv","version":3},"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/2110.13939/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":"2026-07-05T06:42:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZxB1txhr/OxTVG4xKWHF9Wrcm70xNLEt0LKMN8yUO6XqoCPwZPudK/JAOg5Zlvw83eO7WfLm6D/9jZuBLB12CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:07:44.679613Z"},"content_sha256":"38d0c0baf4b305b15b17263d5641d46300613b9e963e29579083f4517ec34de3","schema_version":"1.0","event_id":"sha256:38d0c0baf4b305b15b17263d5641d46300613b9e963e29579083f4517ec34de3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/bundle.json","state_url":"https://pith.science/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/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":"2026-08-06T09:07:44Z","links":{"resolver":"https://pith.science/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS","bundle":"https://pith.science/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/bundle.json","state":"https://pith.science/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5CWBAXQ4JJB74Y2PKJ3O5UQQOS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:5CWBAXQ4JJB74Y2PKJ3O5UQQOS","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":"4dd6727cfc7119474143c5045c02e008922a7c5561ef8d0b9ac977bac6d20d71","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-26T18:07:48Z","title_canon_sha256":"fb224f9315644560e55bf880ab9d54928718cc15bd82bb6df549a15cc0d307e7"},"schema_version":"1.0","source":{"id":"2110.13939","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.13939","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"arxiv_version","alias_value":"2110.13939v3","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.13939","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_12","alias_value":"5CWBAXQ4JJB7","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_16","alias_value":"5CWBAXQ4JJB74Y2P","created_at":"2026-07-05T06:42:38Z"},{"alias_kind":"pith_short_8","alias_value":"5CWBAXQ4","created_at":"2026-07-05T06:42:38Z"}],"graph_snapshots":[{"event_id":"sha256:38d0c0baf4b305b15b17263d5641d46300613b9e963e29579083f4517ec34de3","target":"graph","created_at":"2026-07-05T06:42:38Z","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/2110.13939/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating safety-critical scenarios, which are crucial yet difficult to collect, provides an effective way to evaluate the robustness of autonomous driving systems. However, the diversity of scenarios and efficiency of generation methods are heavily restricted by the rareness and structure of safety-critical scenarios. Therefore, existing generative models that only estimate distributions from observational data are not satisfying to solve this problem. In this paper, we integrate causality as a prior into the scenario generation and propose a flow-based generative framework, Causal Autoregre","authors_text":"Bo Li, Ding Zhao, Haohong Lin, Wenhao Ding","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-26T18:07:48Z","title":"CausalAF: Causal Autoregressive Flow for Safety-Critical Driving Scenario Generation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.13939","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:cbdb3c36c23c82137a402d7ee5e3a3d3825e67476119d77a2ccc03c0ea760915","target":"record","created_at":"2026-07-05T06:42:38Z","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":"4dd6727cfc7119474143c5045c02e008922a7c5561ef8d0b9ac977bac6d20d71","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2021-10-26T18:07:48Z","title_canon_sha256":"fb224f9315644560e55bf880ab9d54928718cc15bd82bb6df549a15cc0d307e7"},"schema_version":"1.0","source":{"id":"2110.13939","kind":"arxiv","version":3}},"canonical_sha256":"e8ac105e1c4a43fe634f5276eed210748f0655b41c9448d8cb38f2c8703c3269","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e8ac105e1c4a43fe634f5276eed210748f0655b41c9448d8cb38f2c8703c3269","first_computed_at":"2026-07-05T06:42:38.953249Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:42:38.953249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ckJZPYC3XX2bZ/jB4Gg8NbNKP2N3+LYQ5p9RnsRD0TOvXFA8Sq5Fi43YKbgr44fKoV2o4uWsXdkG2iIgJY3bBw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:42:38.953693Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.13939","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cbdb3c36c23c82137a402d7ee5e3a3d3825e67476119d77a2ccc03c0ea760915","sha256:38d0c0baf4b305b15b17263d5641d46300613b9e963e29579083f4517ec34de3"],"state_sha256":"31185f4b19f85abd853ba5ca7bad6899a284f08014da226f2ecb375b3d73425e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p8tgY/8xggCCmFAzWfJK5LTPrFoUKdcp0CLrl5fbIS8ELZfe7PRuLyUs79M1VDNPuvZf0D65si5QMzUHJItdDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T09:07:44.683251Z","bundle_sha256":"ca629378f0a59f7f980e71a5a4fbc1bff5548b3417406f27bb185b31e424d22a"}}