{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:I7P3UCLRMPJ7NF27BWC26Z7YKC","short_pith_number":"pith:I7P3UCLR","canonical_record":{"source":{"id":"2001.09113","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-24T17:33:06Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"02a5cda0747aa9834133e5eb2d99ced79c2cf7395f1712678bc9928f076c70d5","abstract_canon_sha256":"e06e9dcd5423142eb5f4974456a62120fce4850e6ee150f92e8691da00ff7a6f"},"schema_version":"1.0"},"canonical_sha256":"47dfba097163d3f6975f0d85af67f850b8db7f0fff552e0c390cba04add4c0d9","source":{"kind":"arxiv","id":"2001.09113","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.09113","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"arxiv_version","alias_value":"2001.09113v1","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.09113","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_12","alias_value":"I7P3UCLRMPJ7","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_16","alias_value":"I7P3UCLRMPJ7NF27","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_8","alias_value":"I7P3UCLR","created_at":"2026-07-05T00:35:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:I7P3UCLRMPJ7NF27BWC26Z7YKC","target":"record","payload":{"canonical_record":{"source":{"id":"2001.09113","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-24T17:33:06Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"02a5cda0747aa9834133e5eb2d99ced79c2cf7395f1712678bc9928f076c70d5","abstract_canon_sha256":"e06e9dcd5423142eb5f4974456a62120fce4850e6ee150f92e8691da00ff7a6f"},"schema_version":"1.0"},"canonical_sha256":"47dfba097163d3f6975f0d85af67f850b8db7f0fff552e0c390cba04add4c0d9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:35:39.710239Z","signature_b64":"/d+vSdjicixR/VQzp7/o6cZCK/otWCR3L4zFfNmqrPTYFHeQFSGjbEq135fjZn2kRZ9u7ur4ehdr4QHVnys4DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"47dfba097163d3f6975f0d85af67f850b8db7f0fff552e0c390cba04add4c0d9","last_reissued_at":"2026-07-05T00:35:39.709825Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:35:39.709825Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2001.09113","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":"2026-07-05T00:35:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uOOc+zScqf1z2t4Jli7hZ0GhjAVcLdmK5mnjzHp31+30QSHdCyFMnIq6Y5kpacNb5oRai2GhtbrcVIyHoAY9Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T08:44:53.116845Z"},"content_sha256":"74a61919333d57d76993d9d14da547bcfdda7a000ce7d4e8d7cbcc24c47966ba","schema_version":"1.0","event_id":"sha256:74a61919333d57d76993d9d14da547bcfdda7a000ce7d4e8d7cbcc24c47966ba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:I7P3UCLRMPJ7NF27BWC26Z7YKC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Perception as prediction using general value functions in autonomous driving applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Daniel Graves, Kasra Rezaee, Sean Scheideman","submitted_at":"2020-01-24T17:33:06Z","abstract_excerpt":"We propose and demonstrate a framework called perception as prediction for autonomous driving that uses general value functions (GVFs) to learn predictions. Perception as prediction learns data-driven predictions relating to the impact of actions on the agent's perception of the world. It also provides a data-driven approach to predict the impact of the anticipated behavior of other agents on the world without explicitly learning their policy or intentions. We demonstrate perception as prediction by learning to predict an agent's front safety and rear safety with GVFs, which encapsulate antici"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.09113","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/2001.09113/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":"2026-07-05T00:35:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FbkBZIuUTWbt0hOWsqa3jb/1eFG/7qbMM6A0i44urHasiBG3tskzx7bOYnxQ4z7yK3kno6PXHO7YeMh7dcE2CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T08:44:53.117212Z"},"content_sha256":"b19e190a3285fcf9846f2f776dccc3b2891c1c05a9af1af1135115f837f29154","schema_version":"1.0","event_id":"sha256:b19e190a3285fcf9846f2f776dccc3b2891c1c05a9af1af1135115f837f29154"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/bundle.json","state_url":"https://pith.science/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/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":"2026-07-17T08:44:53Z","links":{"resolver":"https://pith.science/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC","bundle":"https://pith.science/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/bundle.json","state":"https://pith.science/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/I7P3UCLRMPJ7NF27BWC26Z7YKC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:I7P3UCLRMPJ7NF27BWC26Z7YKC","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":"e06e9dcd5423142eb5f4974456a62120fce4850e6ee150f92e8691da00ff7a6f","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-24T17:33:06Z","title_canon_sha256":"02a5cda0747aa9834133e5eb2d99ced79c2cf7395f1712678bc9928f076c70d5"},"schema_version":"1.0","source":{"id":"2001.09113","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2001.09113","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"arxiv_version","alias_value":"2001.09113v1","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2001.09113","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_12","alias_value":"I7P3UCLRMPJ7","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_16","alias_value":"I7P3UCLRMPJ7NF27","created_at":"2026-07-05T00:35:39Z"},{"alias_kind":"pith_short_8","alias_value":"I7P3UCLR","created_at":"2026-07-05T00:35:39Z"}],"graph_snapshots":[{"event_id":"sha256:b19e190a3285fcf9846f2f776dccc3b2891c1c05a9af1af1135115f837f29154","target":"graph","created_at":"2026-07-05T00:35:39Z","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/2001.09113/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose and demonstrate a framework called perception as prediction for autonomous driving that uses general value functions (GVFs) to learn predictions. Perception as prediction learns data-driven predictions relating to the impact of actions on the agent's perception of the world. It also provides a data-driven approach to predict the impact of the anticipated behavior of other agents on the world without explicitly learning their policy or intentions. We demonstrate perception as prediction by learning to predict an agent's front safety and rear safety with GVFs, which encapsulate antici","authors_text":"Daniel Graves, Kasra Rezaee, Sean Scheideman","cross_cats":["cs.AI","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-24T17:33:06Z","title":"Perception as prediction using general value functions in autonomous driving applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2001.09113","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":"sha256:74a61919333d57d76993d9d14da547bcfdda7a000ce7d4e8d7cbcc24c47966ba","target":"record","created_at":"2026-07-05T00:35:39Z","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":"e06e9dcd5423142eb5f4974456a62120fce4850e6ee150f92e8691da00ff7a6f","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-01-24T17:33:06Z","title_canon_sha256":"02a5cda0747aa9834133e5eb2d99ced79c2cf7395f1712678bc9928f076c70d5"},"schema_version":"1.0","source":{"id":"2001.09113","kind":"arxiv","version":1}},"canonical_sha256":"47dfba097163d3f6975f0d85af67f850b8db7f0fff552e0c390cba04add4c0d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"47dfba097163d3f6975f0d85af67f850b8db7f0fff552e0c390cba04add4c0d9","first_computed_at":"2026-07-05T00:35:39.709825Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:35:39.709825Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/d+vSdjicixR/VQzp7/o6cZCK/otWCR3L4zFfNmqrPTYFHeQFSGjbEq135fjZn2kRZ9u7ur4ehdr4QHVnys4DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:35:39.710239Z","signed_message":"canonical_sha256_bytes"},"source_id":"2001.09113","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:74a61919333d57d76993d9d14da547bcfdda7a000ce7d4e8d7cbcc24c47966ba","sha256:b19e190a3285fcf9846f2f776dccc3b2891c1c05a9af1af1135115f837f29154"],"state_sha256":"131e7b8c2f8f67d306b29ebafa7c66574bf9af5e269ebc59c3df6948d447e4bf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mJxFzqqOqV7VLYz5BckW5tkUG/ePR3gXA7ri9mCtDvrWnyiBuEZ5nLeG1ZGX44AjR6CKUHCfSKyv2yWPt5SZBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T08:44:53.119397Z","bundle_sha256":"a4f36734b488973e820e3af1286053590c8a006c49b1bdb7001546a8d25ae371"}}