{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ADSU73UNYUQOLU4MPO3V5PGGPO","short_pith_number":"pith:ADSU73UN","canonical_record":{"source":{"id":"2606.10688","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:47:14Z","cross_cats_sorted":[],"title_canon_sha256":"85940f3b6ded406029d8142edc8c854480493731831298e540c23ef21b3459c9","abstract_canon_sha256":"cccfbdc0468259975c7343bcc3e90dc2797fd9c4570af89ccd0e65ed1b69327c"},"schema_version":"1.0"},"canonical_sha256":"00e54fee8dc520e5d38c7bb75ebcc67bb2912d73aa4d43295adf60870439476e","source":{"kind":"arxiv","id":"2606.10688","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10688","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10688v1","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10688","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_12","alias_value":"ADSU73UNYUQO","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_16","alias_value":"ADSU73UNYUQOLU4M","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_8","alias_value":"ADSU73UN","created_at":"2026-06-10T01:10:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ADSU73UNYUQOLU4MPO3V5PGGPO","target":"record","payload":{"canonical_record":{"source":{"id":"2606.10688","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:47:14Z","cross_cats_sorted":[],"title_canon_sha256":"85940f3b6ded406029d8142edc8c854480493731831298e540c23ef21b3459c9","abstract_canon_sha256":"cccfbdc0468259975c7343bcc3e90dc2797fd9c4570af89ccd0e65ed1b69327c"},"schema_version":"1.0"},"canonical_sha256":"00e54fee8dc520e5d38c7bb75ebcc67bb2912d73aa4d43295adf60870439476e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-10T01:10:34.365798Z","signature_b64":"3nr6cKaP063lxdXB7fNzj9QHVvK6EJf/Y0Jb3ju3ElzIrvfHpMFe8yI16cdglUJIwSgGnoWkQ/JbnKqApnHvBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"00e54fee8dc520e5d38c7bb75ebcc67bb2912d73aa4d43295adf60870439476e","last_reissued_at":"2026-06-10T01:10:34.365363Z","signature_status":"signed_v1","first_computed_at":"2026-06-10T01:10:34.365363Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.10688","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":"2026-06-10T01:10:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0d/GqxR0XJSDWFPNe3ojJ0uFup8FcWuH6FLan0pXEwDkY1Y8BrT7OmUlgMb+kyjcyGMZaInch/U2ozPKMfecCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T10:11:58.542976Z"},"content_sha256":"d5b5117f2c97633cda34bfa14b5a95acabdb36a1571c2cbf4e015b581c9b1f17","schema_version":"1.0","event_id":"sha256:d5b5117f2c97633cda34bfa14b5a95acabdb36a1571c2cbf4e015b581c9b1f17"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ADSU73UNYUQOLU4MPO3V5PGGPO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Supervised Relevance Modelling in Autonomous Driving via Counterfactual Analysis","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Javier Gozalvez, Luca Lusvarghi, Pablo Urbano Hidalgo","submitted_at":"2026-06-09T10:47:14Z","abstract_excerpt":"Autonomous driving relies on computationally intensive perception pipelines to continuously detect and track objects in the surrounding environment. While some objects are key to plan safe and effective maneuvers, others may not be relevant and have no impact on the autonomous vehicle's driving decisions. Focusing on relevant objects allows a more efficient usage of available computational resources, reduces processing latencies, and limits the downstream propagation of perception noise. In this work, we propose a novel self-supervised approach based on counterfactual analysis to develop a rel"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10688","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/2606.10688/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":"2026-06-10T01:10:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c+u6CMZAG8MqBeh+9YGWc928mtH4vtWzNMdFrrHAODGWh/3DorrA/N/Wg2Nn79uZIrDP/JqLbX5QsFdAGbg0CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T10:11:58.543363Z"},"content_sha256":"4ab10aa3911b1dd8f7506614cf2dfb54899c45a70f2aa64d13860e9cca7cae90","schema_version":"1.0","event_id":"sha256:4ab10aa3911b1dd8f7506614cf2dfb54899c45a70f2aa64d13860e9cca7cae90"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/bundle.json","state_url":"https://pith.science/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/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":"2026-06-12T10:11:58Z","links":{"resolver":"https://pith.science/pith/ADSU73UNYUQOLU4MPO3V5PGGPO","bundle":"https://pith.science/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/bundle.json","state":"https://pith.science/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ADSU73UNYUQOLU4MPO3V5PGGPO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ADSU73UNYUQOLU4MPO3V5PGGPO","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":"cccfbdc0468259975c7343bcc3e90dc2797fd9c4570af89ccd0e65ed1b69327c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:47:14Z","title_canon_sha256":"85940f3b6ded406029d8142edc8c854480493731831298e540c23ef21b3459c9"},"schema_version":"1.0","source":{"id":"2606.10688","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10688","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10688v1","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10688","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_12","alias_value":"ADSU73UNYUQO","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_16","alias_value":"ADSU73UNYUQOLU4M","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_8","alias_value":"ADSU73UN","created_at":"2026-06-10T01:10:34Z"}],"graph_snapshots":[{"event_id":"sha256:4ab10aa3911b1dd8f7506614cf2dfb54899c45a70f2aa64d13860e9cca7cae90","target":"graph","created_at":"2026-06-10T01:10:34Z","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/2606.10688/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous driving relies on computationally intensive perception pipelines to continuously detect and track objects in the surrounding environment. While some objects are key to plan safe and effective maneuvers, others may not be relevant and have no impact on the autonomous vehicle's driving decisions. Focusing on relevant objects allows a more efficient usage of available computational resources, reduces processing latencies, and limits the downstream propagation of perception noise. In this work, we propose a novel self-supervised approach based on counterfactual analysis to develop a rel","authors_text":"Javier Gozalvez, Luca Lusvarghi, Pablo Urbano Hidalgo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:47:14Z","title":"Self-Supervised Relevance Modelling in Autonomous Driving via Counterfactual Analysis"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10688","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:d5b5117f2c97633cda34bfa14b5a95acabdb36a1571c2cbf4e015b581c9b1f17","target":"record","created_at":"2026-06-10T01:10:34Z","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":"cccfbdc0468259975c7343bcc3e90dc2797fd9c4570af89ccd0e65ed1b69327c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:47:14Z","title_canon_sha256":"85940f3b6ded406029d8142edc8c854480493731831298e540c23ef21b3459c9"},"schema_version":"1.0","source":{"id":"2606.10688","kind":"arxiv","version":1}},"canonical_sha256":"00e54fee8dc520e5d38c7bb75ebcc67bb2912d73aa4d43295adf60870439476e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"00e54fee8dc520e5d38c7bb75ebcc67bb2912d73aa4d43295adf60870439476e","first_computed_at":"2026-06-10T01:10:34.365363Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T01:10:34.365363Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3nr6cKaP063lxdXB7fNzj9QHVvK6EJf/Y0Jb3ju3ElzIrvfHpMFe8yI16cdglUJIwSgGnoWkQ/JbnKqApnHvBQ==","signature_status":"signed_v1","signed_at":"2026-06-10T01:10:34.365798Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.10688","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d5b5117f2c97633cda34bfa14b5a95acabdb36a1571c2cbf4e015b581c9b1f17","sha256:4ab10aa3911b1dd8f7506614cf2dfb54899c45a70f2aa64d13860e9cca7cae90"],"state_sha256":"08bfd5bb527e0d2de7364948b7cbe4ab99fff75edebd72ff04ff8f45edc46acb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kjUD0RYoGqIKxs/sxZKM/20YyVBogYkuh7OesTbP6QJi16/9SG0tA2AIc5ypP0EvMUj9vDJM3KYJKp4GDEn3Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-12T10:11:58.545511Z","bundle_sha256":"7374b78d08ae0e4ceb9e1aa9530b58d42ba565db95781721998a949b659a3c5b"}}