{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:DZI7HRW3K74ATM7YJIHGENQDEP","short_pith_number":"pith:DZI7HRW3","canonical_record":{"source":{"id":"2410.07191","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-23T20:01:20Z","cross_cats_sorted":["cs.LG","stat.ME"],"title_canon_sha256":"c78fcd2e00a9ac43c33f1a4903c343b596fa0e77ce345b50bfea03e134fb5d9d","abstract_canon_sha256":"beb86d7da885448dae4c16f5febd70a57b581493557f4dc0390a13eeeed7e295"},"schema_version":"1.0"},"canonical_sha256":"1e51f3c6db57f809b3f84a0e62360323fedfad87ab193cb6ffa6f011986172fa","source":{"kind":"arxiv","id":"2410.07191","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.07191","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"arxiv_version","alias_value":"2410.07191v2","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07191","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_12","alias_value":"DZI7HRW3K74A","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_16","alias_value":"DZI7HRW3K74ATM7Y","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_8","alias_value":"DZI7HRW3","created_at":"2026-05-20T00:02:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:DZI7HRW3K74ATM7YJIHGENQDEP","target":"record","payload":{"canonical_record":{"source":{"id":"2410.07191","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-23T20:01:20Z","cross_cats_sorted":["cs.LG","stat.ME"],"title_canon_sha256":"c78fcd2e00a9ac43c33f1a4903c343b596fa0e77ce345b50bfea03e134fb5d9d","abstract_canon_sha256":"beb86d7da885448dae4c16f5febd70a57b581493557f4dc0390a13eeeed7e295"},"schema_version":"1.0"},"canonical_sha256":"1e51f3c6db57f809b3f84a0e62360323fedfad87ab193cb6ffa6f011986172fa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:02:47.147526Z","signature_b64":"xEUp6pf8ga/t0XO8noe1qj3ZbrodzgyqwtiFTw3MyF/1bgP8ISw2QxohpCp3cBAknUyrqCfQHR3U1k6offScAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1e51f3c6db57f809b3f84a0e62360323fedfad87ab193cb6ffa6f011986172fa","last_reissued_at":"2026-05-20T00:02:47.146838Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:02:47.146838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.07191","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":"2026-05-20T00:02:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fcHkC2wzPRiKWYlYG+UknZMRNgSse6mIQ+PZGcwEJOn++ONbE8Dexiokly1EKwZQGoLmR18cK+IieIMBCqqQCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T00:41:41.144183Z"},"content_sha256":"375a0f6cd94e523bca249236df85d282ff8475e3a30dd1f51799a7bfc9a1d767","schema_version":"1.0","event_id":"sha256:375a0f6cd94e523bca249236df85d282ff8475e3a30dd1f51799a7bfc9a1d767"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:DZI7HRW3K74ATM7YJIHGENQDEP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Curb Your Attention: Causal Attention Gating for Robust Trajectory Prediction in Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","stat.ME"],"primary_cat":"cs.RO","authors_text":"Amir Rasouli, Ehsan Ahmadi, Kasra Rezaee, Ray Mercurius, Soheil Alizadeh","submitted_at":"2024-09-23T20:01:20Z","abstract_excerpt":"Trajectory prediction models in autonomous driving are vulnerable to perturbations from non-causal agents whose actions should not affect the ego-agent's behavior. Such perturbations can lead to incorrect predictions of other agents' trajectories, potentially compromising the safety and efficiency of the ego-vehicle's decision-making process. Motivated by this challenge, we propose $\\textit{Causal tRajecTory predICtion}$ $\\textbf{(CRiTIC)}$, a novel model that utilizes a $\\textit{Causal Discovery Network}$ to identify inter-agent causal relations over a window of past time steps. To incorporat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07191","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/2410.07191/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":"2026-05-20T00:02:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ilvoiS5qW3Tf4+kvfr1VaCwea1Lj3lC7RT7GkTb/zu5GCN53rXQ5psozeJG4vW8S+rXxjU/jB09BtUHwJ0M6Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T00:41:41.144933Z"},"content_sha256":"f26e8a629bf6c0f82752413f6b3bf79c200af22030eb3858a8e52290a9ea65b8","schema_version":"1.0","event_id":"sha256:f26e8a629bf6c0f82752413f6b3bf79c200af22030eb3858a8e52290a9ea65b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DZI7HRW3K74ATM7YJIHGENQDEP/bundle.json","state_url":"https://pith.science/pith/DZI7HRW3K74ATM7YJIHGENQDEP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DZI7HRW3K74ATM7YJIHGENQDEP/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":"2026-05-25T00:41:41Z","links":{"resolver":"https://pith.science/pith/DZI7HRW3K74ATM7YJIHGENQDEP","bundle":"https://pith.science/pith/DZI7HRW3K74ATM7YJIHGENQDEP/bundle.json","state":"https://pith.science/pith/DZI7HRW3K74ATM7YJIHGENQDEP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DZI7HRW3K74ATM7YJIHGENQDEP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:DZI7HRW3K74ATM7YJIHGENQDEP","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":"beb86d7da885448dae4c16f5febd70a57b581493557f4dc0390a13eeeed7e295","cross_cats_sorted":["cs.LG","stat.ME"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-23T20:01:20Z","title_canon_sha256":"c78fcd2e00a9ac43c33f1a4903c343b596fa0e77ce345b50bfea03e134fb5d9d"},"schema_version":"1.0","source":{"id":"2410.07191","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.07191","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"arxiv_version","alias_value":"2410.07191v2","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07191","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_12","alias_value":"DZI7HRW3K74A","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_16","alias_value":"DZI7HRW3K74ATM7Y","created_at":"2026-05-20T00:02:47Z"},{"alias_kind":"pith_short_8","alias_value":"DZI7HRW3","created_at":"2026-05-20T00:02:47Z"}],"graph_snapshots":[{"event_id":"sha256:f26e8a629bf6c0f82752413f6b3bf79c200af22030eb3858a8e52290a9ea65b8","target":"graph","created_at":"2026-05-20T00:02:47Z","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/2410.07191/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Trajectory prediction models in autonomous driving are vulnerable to perturbations from non-causal agents whose actions should not affect the ego-agent's behavior. Such perturbations can lead to incorrect predictions of other agents' trajectories, potentially compromising the safety and efficiency of the ego-vehicle's decision-making process. Motivated by this challenge, we propose $\\textit{Causal tRajecTory predICtion}$ $\\textbf{(CRiTIC)}$, a novel model that utilizes a $\\textit{Causal Discovery Network}$ to identify inter-agent causal relations over a window of past time steps. To incorporat","authors_text":"Amir Rasouli, Ehsan Ahmadi, Kasra Rezaee, Ray Mercurius, Soheil Alizadeh","cross_cats":["cs.LG","stat.ME"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-23T20:01:20Z","title":"Curb Your Attention: Causal Attention Gating for Robust Trajectory Prediction in Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07191","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":"sha256:375a0f6cd94e523bca249236df85d282ff8475e3a30dd1f51799a7bfc9a1d767","target":"record","created_at":"2026-05-20T00:02:47Z","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":"beb86d7da885448dae4c16f5febd70a57b581493557f4dc0390a13eeeed7e295","cross_cats_sorted":["cs.LG","stat.ME"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-23T20:01:20Z","title_canon_sha256":"c78fcd2e00a9ac43c33f1a4903c343b596fa0e77ce345b50bfea03e134fb5d9d"},"schema_version":"1.0","source":{"id":"2410.07191","kind":"arxiv","version":2}},"canonical_sha256":"1e51f3c6db57f809b3f84a0e62360323fedfad87ab193cb6ffa6f011986172fa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1e51f3c6db57f809b3f84a0e62360323fedfad87ab193cb6ffa6f011986172fa","first_computed_at":"2026-05-20T00:02:47.146838Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:02:47.146838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xEUp6pf8ga/t0XO8noe1qj3ZbrodzgyqwtiFTw3MyF/1bgP8ISw2QxohpCp3cBAknUyrqCfQHR3U1k6offScAg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:02:47.147526Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.07191","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:375a0f6cd94e523bca249236df85d282ff8475e3a30dd1f51799a7bfc9a1d767","sha256:f26e8a629bf6c0f82752413f6b3bf79c200af22030eb3858a8e52290a9ea65b8"],"state_sha256":"a32126ab970bbb9b125c6fd0489f903326e7a4f9e478284c19629cae7bce7b40"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iombm6GQIMpe2l1uBbZzAZnhgWU2+cIibdOI7y/soQNIWIkg3OJKzChUHtWH/6T4am0Tr4j+9qzvVb65GLC9Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T00:41:41.150389Z","bundle_sha256":"1d025d8ac4d4d72f76448bd9cd8c0f4ff9ac693da76b9a39eefe729dfb983cd3"}}