{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:AHTCARYJTQ74K366O3LBEC6N7S","short_pith_number":"pith:AHTCARYJ","canonical_record":{"source":{"id":"2008.09417","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-21T10:49:13Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"43319f94b869a90071abbbdcca4b2fa90a2e3a8f64deec70f97ed6b4fcdd900d","abstract_canon_sha256":"9f2af97c1d7b2fd2bb2e4841c049dc771957d3c06fe0c7d42d290b09a251a2d7"},"schema_version":"1.0"},"canonical_sha256":"01e62047099c3fc56fde76d6120bcdfcb560682d177c39ed5b5c32f9f17ae338","source":{"kind":"arxiv","id":"2008.09417","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.09417","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"arxiv_version","alias_value":"2008.09417v2","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.09417","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_12","alias_value":"AHTCARYJTQ74","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_16","alias_value":"AHTCARYJTQ74K366","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_8","alias_value":"AHTCARYJ","created_at":"2026-07-05T01:50:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:AHTCARYJTQ74K366O3LBEC6N7S","target":"record","payload":{"canonical_record":{"source":{"id":"2008.09417","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-21T10:49:13Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"43319f94b869a90071abbbdcca4b2fa90a2e3a8f64deec70f97ed6b4fcdd900d","abstract_canon_sha256":"9f2af97c1d7b2fd2bb2e4841c049dc771957d3c06fe0c7d42d290b09a251a2d7"},"schema_version":"1.0"},"canonical_sha256":"01e62047099c3fc56fde76d6120bcdfcb560682d177c39ed5b5c32f9f17ae338","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:50:11.963889Z","signature_b64":"MPxGSoReymSFhmMo5/WvDozIj540d6BQp1HfKC5qZwsNd+q+8LD7VxhSP7/OZ0n61kEjmkI0wKUKVQHurhM/AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"01e62047099c3fc56fde76d6120bcdfcb560682d177c39ed5b5c32f9f17ae338","last_reissued_at":"2026-07-05T01:50:11.963513Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:50:11.963513Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.09417","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:50:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x8sFH77GncQsto0sqSvkOmsW486MHllathHmYaWakVN9BSD4GVRu9vEr1Z3/64CCcjIEE6SRDJ0pI+gR7HH5CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:33:56.421214Z"},"content_sha256":"4de941bfea56f166293c15fad8e9a23a54ff3b30e02f9e9cc61ddffc59d71f3c","schema_version":"1.0","event_id":"sha256:4de941bfea56f166293c15fad8e9a23a54ff3b30e02f9e9cc61ddffc59d71f3c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:AHTCARYJTQ74K366O3LBEC6N7S","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Action-Based Representation Learning for Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Antonio M. Lopez, Christopher Pal, Felipe Codevilla, Yi Xiao","submitted_at":"2020-08-21T10:49:13Z","abstract_excerpt":"Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our experiments show that an affordance-based driving model pre-trained with this approach can leverage a relative"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.09417","kind":"arxiv","version":2},"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/2008.09417/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":"2026-07-05T01:50:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JaFf/Y/a7P5qAEsgPU6R7mOJ0Yvv1yOLKzSFQI6Mdnhq6ljFYSXw+J2Rvm4yK8Ih9rXNuMGPa4xrTZY3Gzm5Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:33:56.421499Z"},"content_sha256":"5c6fd258ee738d8db5f3b59467d2b6d23a343504af29a1d4810cc5498e2b10ec","schema_version":"1.0","event_id":"sha256:5c6fd258ee738d8db5f3b59467d2b6d23a343504af29a1d4810cc5498e2b10ec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AHTCARYJTQ74K366O3LBEC6N7S/bundle.json","state_url":"https://pith.science/pith/AHTCARYJTQ74K366O3LBEC6N7S/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AHTCARYJTQ74K366O3LBEC6N7S/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":"2026-08-05T11:33:56Z","links":{"resolver":"https://pith.science/pith/AHTCARYJTQ74K366O3LBEC6N7S","bundle":"https://pith.science/pith/AHTCARYJTQ74K366O3LBEC6N7S/bundle.json","state":"https://pith.science/pith/AHTCARYJTQ74K366O3LBEC6N7S/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AHTCARYJTQ74K366O3LBEC6N7S/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:AHTCARYJTQ74K366O3LBEC6N7S","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":"9f2af97c1d7b2fd2bb2e4841c049dc771957d3c06fe0c7d42d290b09a251a2d7","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-21T10:49:13Z","title_canon_sha256":"43319f94b869a90071abbbdcca4b2fa90a2e3a8f64deec70f97ed6b4fcdd900d"},"schema_version":"1.0","source":{"id":"2008.09417","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.09417","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"arxiv_version","alias_value":"2008.09417v2","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.09417","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_12","alias_value":"AHTCARYJTQ74","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_16","alias_value":"AHTCARYJTQ74K366","created_at":"2026-07-05T01:50:11Z"},{"alias_kind":"pith_short_8","alias_value":"AHTCARYJ","created_at":"2026-07-05T01:50:11Z"}],"graph_snapshots":[{"event_id":"sha256:5c6fd258ee738d8db5f3b59467d2b6d23a343504af29a1d4810cc5498e2b10ec","target":"graph","created_at":"2026-07-05T01:50:11Z","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/2008.09417/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our experiments show that an affordance-based driving model pre-trained with this approach can leverage a relative","authors_text":"Antonio M. Lopez, Christopher Pal, Felipe Codevilla, Yi Xiao","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-21T10:49:13Z","title":"Action-Based Representation Learning for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.09417","kind":"arxiv","version":2},"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":"sha256:4de941bfea56f166293c15fad8e9a23a54ff3b30e02f9e9cc61ddffc59d71f3c","target":"record","created_at":"2026-07-05T01:50:11Z","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":"9f2af97c1d7b2fd2bb2e4841c049dc771957d3c06fe0c7d42d290b09a251a2d7","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-08-21T10:49:13Z","title_canon_sha256":"43319f94b869a90071abbbdcca4b2fa90a2e3a8f64deec70f97ed6b4fcdd900d"},"schema_version":"1.0","source":{"id":"2008.09417","kind":"arxiv","version":2}},"canonical_sha256":"01e62047099c3fc56fde76d6120bcdfcb560682d177c39ed5b5c32f9f17ae338","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"01e62047099c3fc56fde76d6120bcdfcb560682d177c39ed5b5c32f9f17ae338","first_computed_at":"2026-07-05T01:50:11.963513Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:50:11.963513Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MPxGSoReymSFhmMo5/WvDozIj540d6BQp1HfKC5qZwsNd+q+8LD7VxhSP7/OZ0n61kEjmkI0wKUKVQHurhM/AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:50:11.963889Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.09417","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4de941bfea56f166293c15fad8e9a23a54ff3b30e02f9e9cc61ddffc59d71f3c","sha256:5c6fd258ee738d8db5f3b59467d2b6d23a343504af29a1d4810cc5498e2b10ec"],"state_sha256":"72bcbb4a45491eb8818b8e59946d58bc85d2e411018413f59f721924905c18b6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iYOw+VafYswivE4Krgb39kb6iAnK1S0I2I1Kl4MjvIppsqeTXGMykRXX44CglhpzApTQMqhbc3p/J87N14tHAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T11:33:56.425651Z","bundle_sha256":"af2d14172435f888f435a471c593814da0560ed4f60b41728a5c7b06551820fd"}}