{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:ECND2X2PYGUC3T6CTCGTXZICUO","short_pith_number":"pith:ECND2X2P","canonical_record":{"source":{"id":"2206.12471","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-24T18:59:59Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e64abaf3de4f338cb9460c193caf18594800dc7cf2cd234060059bda17ccd4a4","abstract_canon_sha256":"54e557f2bc0c413e4f734a8a98fa1c1a4d0b4b1129d9966c7d434fd47c2f8ffb"},"schema_version":"1.0"},"canonical_sha256":"209a3d5f4fc1a82dcfc2988d3be502a395d612be9670ff9561599156bb1c462e","source":{"kind":"arxiv","id":"2206.12471","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.12471","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"arxiv_version","alias_value":"2206.12471v1","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.12471","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_12","alias_value":"ECND2X2PYGUC","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_16","alias_value":"ECND2X2PYGUC3T6C","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_8","alias_value":"ECND2X2P","created_at":"2026-07-05T04:34:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:ECND2X2PYGUC3T6CTCGTXZICUO","target":"record","payload":{"canonical_record":{"source":{"id":"2206.12471","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-24T18:59:59Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e64abaf3de4f338cb9460c193caf18594800dc7cf2cd234060059bda17ccd4a4","abstract_canon_sha256":"54e557f2bc0c413e4f734a8a98fa1c1a4d0b4b1129d9966c7d434fd47c2f8ffb"},"schema_version":"1.0"},"canonical_sha256":"209a3d5f4fc1a82dcfc2988d3be502a395d612be9670ff9561599156bb1c462e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:34:37.929773Z","signature_b64":"ViKis0sn3nUyILnqwXTW7ma+ZNNhYQzPHQP+pP50rkFHZ5UzrnytjHGsvnva44Af3DSmOj9rX42glva/ptVlAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"209a3d5f4fc1a82dcfc2988d3be502a395d612be9670ff9561599156bb1c462e","last_reissued_at":"2026-07-05T04:34:37.929270Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:34:37.929270Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.12471","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":"2026-07-05T04:34:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f53DVDo2Fv9s4LxNRWpqhZ//XBbl3xDq2CTBthtNqSJFJINQJi3hhmdqN9XEWeUIupcKofJtnW652XlVYYMMCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T07:15:39.025181Z"},"content_sha256":"d1a1a99ebb473b1cff6f48653537a749fc98f401fc4192649653c2d3aecb0e0f","schema_version":"1.0","event_id":"sha256:d1a1a99ebb473b1cff6f48653537a749fc98f401fc4192649653c2d3aecb0e0f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:ECND2X2PYGUC3T6CTCGTXZICUO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Edward Schmerling, Jonas Nilsson, Karen Leung, Marco Pavone, Michael Cox, Pritish Tupekar, Sever Topan, Yuxiao Chen","submitted_at":"2022-06-24T18:59:59Z","abstract_excerpt":"To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation metric for the perception system captures the safety-criticality of objects. Unfortunately, existing perception evaluation metrics tend to make strong assumptions about the objects and ignore the dynamic interactions between agents, and thus do not accurately capture the safety risks in reality. To address these shortcomings, we introduce an interaction-dynamics"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.12471","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/2206.12471/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":"2026-07-05T04:34:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BJ6KyMac2RmqyxLBqjd5TdK40aF5XlPSTY6laJLPdZPOz/A7Q2H57mrJPkTNJKKRCQuKzcHSiGh5smU9s/r6AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T07:15:39.026180Z"},"content_sha256":"e3d681fc234196cf7bfc5d3cceda647b1b7bc05cc5e70a16e091a7e735ddbb4d","schema_version":"1.0","event_id":"sha256:e3d681fc234196cf7bfc5d3cceda647b1b7bc05cc5e70a16e091a7e735ddbb4d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ECND2X2PYGUC3T6CTCGTXZICUO/bundle.json","state_url":"https://pith.science/pith/ECND2X2PYGUC3T6CTCGTXZICUO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ECND2X2PYGUC3T6CTCGTXZICUO/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":"2026-08-05T07:15:39Z","links":{"resolver":"https://pith.science/pith/ECND2X2PYGUC3T6CTCGTXZICUO","bundle":"https://pith.science/pith/ECND2X2PYGUC3T6CTCGTXZICUO/bundle.json","state":"https://pith.science/pith/ECND2X2PYGUC3T6CTCGTXZICUO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ECND2X2PYGUC3T6CTCGTXZICUO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ECND2X2PYGUC3T6CTCGTXZICUO","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":"54e557f2bc0c413e4f734a8a98fa1c1a4d0b4b1129d9966c7d434fd47c2f8ffb","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-24T18:59:59Z","title_canon_sha256":"e64abaf3de4f338cb9460c193caf18594800dc7cf2cd234060059bda17ccd4a4"},"schema_version":"1.0","source":{"id":"2206.12471","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.12471","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"arxiv_version","alias_value":"2206.12471v1","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.12471","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_12","alias_value":"ECND2X2PYGUC","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_16","alias_value":"ECND2X2PYGUC3T6C","created_at":"2026-07-05T04:34:37Z"},{"alias_kind":"pith_short_8","alias_value":"ECND2X2P","created_at":"2026-07-05T04:34:37Z"}],"graph_snapshots":[{"event_id":"sha256:e3d681fc234196cf7bfc5d3cceda647b1b7bc05cc5e70a16e091a7e735ddbb4d","target":"graph","created_at":"2026-07-05T04:34:37Z","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/2206.12471/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation metric for the perception system captures the safety-criticality of objects. Unfortunately, existing perception evaluation metrics tend to make strong assumptions about the objects and ignore the dynamic interactions between agents, and thus do not accurately capture the safety risks in reality. To address these shortcomings, we introduce an interaction-dynamics","authors_text":"Edward Schmerling, Jonas Nilsson, Karen Leung, Marco Pavone, Michael Cox, Pritish Tupekar, Sever Topan, Yuxiao Chen","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-24T18:59:59Z","title":"Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.12471","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:d1a1a99ebb473b1cff6f48653537a749fc98f401fc4192649653c2d3aecb0e0f","target":"record","created_at":"2026-07-05T04:34:37Z","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":"54e557f2bc0c413e4f734a8a98fa1c1a4d0b4b1129d9966c7d434fd47c2f8ffb","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-24T18:59:59Z","title_canon_sha256":"e64abaf3de4f338cb9460c193caf18594800dc7cf2cd234060059bda17ccd4a4"},"schema_version":"1.0","source":{"id":"2206.12471","kind":"arxiv","version":1}},"canonical_sha256":"209a3d5f4fc1a82dcfc2988d3be502a395d612be9670ff9561599156bb1c462e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"209a3d5f4fc1a82dcfc2988d3be502a395d612be9670ff9561599156bb1c462e","first_computed_at":"2026-07-05T04:34:37.929270Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:34:37.929270Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ViKis0sn3nUyILnqwXTW7ma+ZNNhYQzPHQP+pP50rkFHZ5UzrnytjHGsvnva44Af3DSmOj9rX42glva/ptVlAA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:34:37.929773Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.12471","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d1a1a99ebb473b1cff6f48653537a749fc98f401fc4192649653c2d3aecb0e0f","sha256:e3d681fc234196cf7bfc5d3cceda647b1b7bc05cc5e70a16e091a7e735ddbb4d"],"state_sha256":"a9920bfe9680e607ff1cc9e9302c11e1c01a52fec68761b69979aa631f69ae1d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kq9IP7OyF5mdB3DKtXlCzMvhuQIGYWreeIkC6m2AyemlC8tNvPMpz0q8knpnbPp5LOfCS4cUd1xBQgwTbM6jCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T07:15:39.033485Z","bundle_sha256":"af08b851533fc87ad1e91e5337688a57da4442401bc9b4534df1eb1600c70007"}}