{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:7BCFB3EWOMRB6WOHB54KTUF4PV","short_pith_number":"pith:7BCFB3EW","canonical_record":{"source":{"id":"2310.13135","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-10-19T20:09:08Z","cross_cats_sorted":[],"title_canon_sha256":"3da7785a5526037b42e3bb44c607b5cbdee04066eddfa199b369c6f31f144728","abstract_canon_sha256":"3417e7abb2b8769d8db69e05f8496c9b5494263a000fc4a58fd54102b458035a"},"schema_version":"1.0"},"canonical_sha256":"f84450ec9673221f59c70f78a9d0bc7d4a2a24b3e6b1eb145e2446cae69d9afa","source":{"kind":"arxiv","id":"2310.13135","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.13135","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"arxiv_version","alias_value":"2310.13135v3","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.13135","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_12","alias_value":"7BCFB3EWOMRB","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_16","alias_value":"7BCFB3EWOMRB6WOH","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_8","alias_value":"7BCFB3EW","created_at":"2026-07-05T07:19:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:7BCFB3EWOMRB6WOHB54KTUF4PV","target":"record","payload":{"canonical_record":{"source":{"id":"2310.13135","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-10-19T20:09:08Z","cross_cats_sorted":[],"title_canon_sha256":"3da7785a5526037b42e3bb44c607b5cbdee04066eddfa199b369c6f31f144728","abstract_canon_sha256":"3417e7abb2b8769d8db69e05f8496c9b5494263a000fc4a58fd54102b458035a"},"schema_version":"1.0"},"canonical_sha256":"f84450ec9673221f59c70f78a9d0bc7d4a2a24b3e6b1eb145e2446cae69d9afa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:19:23.209160Z","signature_b64":"L/qYzesjl1970SlwZ55u+0eYYyGrCP4RpTo9fEGvWQ23MLL0bLxmIjuLiIecRlCckOUB5B4+o31oaDdMdADOCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f84450ec9673221f59c70f78a9d0bc7d4a2a24b3e6b1eb145e2446cae69d9afa","last_reissued_at":"2026-07-05T07:19:23.208656Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:19:23.208656Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.13135","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":"2026-07-05T07:19:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RnpKDhssN488mbDHvnIHwsMa0jZDHznd1Lx/Ukup+gwENvxH1Getwe7VIh0vXzFl/nNFUzJoSFnQLkoazkAkAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:37:32.925629Z"},"content_sha256":"1b5ae9dd646c5655d2a3d4febb00b50339838068d9687b369df190fe89c5d868","schema_version":"1.0","event_id":"sha256:1b5ae9dd646c5655d2a3d4febb00b50339838068d9687b369df190fe89c5d868"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:7BCFB3EWOMRB6WOHB54KTUF4PV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LeTFuser: Light-weight End-to-end Transformer-Based Sensor Fusion for Autonomous Driving with Multi-Task Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Manolis Savva, Mo Chen, Mohammad Mahdavian, Pedram Agand","submitted_at":"2023-10-19T20:09:08Z","abstract_excerpt":"In end-to-end autonomous driving, the utilization of existing sensor fusion techniques and navigational control methods for imitation learning proves inadequate in challenging situations that involve numerous dynamic agents. To address this issue, we introduce LeTFuser, a lightweight transformer-based algorithm for fusing multiple RGB-D camera representations. To perform perception and control tasks simultaneously, we utilize multi-task learning. Our model comprises of two modules, the first being the perception module that is responsible for encoding the observation data obtained from the RGB"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.13135","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/2310.13135/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":"2026-07-05T07:19:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CWuVyn7bt4h0+b0RGrK1RObDa83gOULOtPk5487W4iFzcKMHFZ4mM7dgzP43P02bGaXAIfzjIIYpKUxj3T4gDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:37:32.926242Z"},"content_sha256":"44e894d4a7ce96b73a186519bccc22817d4aab3feca2fd2675f5ee1648a30054","schema_version":"1.0","event_id":"sha256:44e894d4a7ce96b73a186519bccc22817d4aab3feca2fd2675f5ee1648a30054"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/bundle.json","state_url":"https://pith.science/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/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":"2026-08-06T16:37:32Z","links":{"resolver":"https://pith.science/pith/7BCFB3EWOMRB6WOHB54KTUF4PV","bundle":"https://pith.science/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/bundle.json","state":"https://pith.science/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7BCFB3EWOMRB6WOHB54KTUF4PV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7BCFB3EWOMRB6WOHB54KTUF4PV","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":"3417e7abb2b8769d8db69e05f8496c9b5494263a000fc4a58fd54102b458035a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-10-19T20:09:08Z","title_canon_sha256":"3da7785a5526037b42e3bb44c607b5cbdee04066eddfa199b369c6f31f144728"},"schema_version":"1.0","source":{"id":"2310.13135","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.13135","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"arxiv_version","alias_value":"2310.13135v3","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.13135","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_12","alias_value":"7BCFB3EWOMRB","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_16","alias_value":"7BCFB3EWOMRB6WOH","created_at":"2026-07-05T07:19:23Z"},{"alias_kind":"pith_short_8","alias_value":"7BCFB3EW","created_at":"2026-07-05T07:19:23Z"}],"graph_snapshots":[{"event_id":"sha256:44e894d4a7ce96b73a186519bccc22817d4aab3feca2fd2675f5ee1648a30054","target":"graph","created_at":"2026-07-05T07:19:23Z","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/2310.13135/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In end-to-end autonomous driving, the utilization of existing sensor fusion techniques and navigational control methods for imitation learning proves inadequate in challenging situations that involve numerous dynamic agents. To address this issue, we introduce LeTFuser, a lightweight transformer-based algorithm for fusing multiple RGB-D camera representations. To perform perception and control tasks simultaneously, we utilize multi-task learning. Our model comprises of two modules, the first being the perception module that is responsible for encoding the observation data obtained from the RGB","authors_text":"Manolis Savva, Mo Chen, Mohammad Mahdavian, Pedram Agand","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-10-19T20:09:08Z","title":"LeTFuser: Light-weight End-to-end Transformer-Based Sensor Fusion for Autonomous Driving with Multi-Task Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.13135","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":"sha256:1b5ae9dd646c5655d2a3d4febb00b50339838068d9687b369df190fe89c5d868","target":"record","created_at":"2026-07-05T07:19:23Z","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":"3417e7abb2b8769d8db69e05f8496c9b5494263a000fc4a58fd54102b458035a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2023-10-19T20:09:08Z","title_canon_sha256":"3da7785a5526037b42e3bb44c607b5cbdee04066eddfa199b369c6f31f144728"},"schema_version":"1.0","source":{"id":"2310.13135","kind":"arxiv","version":3}},"canonical_sha256":"f84450ec9673221f59c70f78a9d0bc7d4a2a24b3e6b1eb145e2446cae69d9afa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f84450ec9673221f59c70f78a9d0bc7d4a2a24b3e6b1eb145e2446cae69d9afa","first_computed_at":"2026-07-05T07:19:23.208656Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:19:23.208656Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"L/qYzesjl1970SlwZ55u+0eYYyGrCP4RpTo9fEGvWQ23MLL0bLxmIjuLiIecRlCckOUB5B4+o31oaDdMdADOCA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:19:23.209160Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.13135","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1b5ae9dd646c5655d2a3d4febb00b50339838068d9687b369df190fe89c5d868","sha256:44e894d4a7ce96b73a186519bccc22817d4aab3feca2fd2675f5ee1648a30054"],"state_sha256":"dbc01daf2e11d72703690a6434b3f76bf7bcc8e13e74efbb220062003189a221"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fjiawQ4eIyDTgE0GMCRO1kmxZf5CQvxCWqjG+uslXn6a+VIIS8zmnlcMRbU1Uu9SHRI851A4yrjdpfJn7CacCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T16:37:32.932735Z","bundle_sha256":"f3f7c36c48208d9516a6bce033aece45e4886d70de1ee410b4616d1f1b8dd94d"}}