{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:NTUJF5I46ZWKF4PQ6QZJ3E5SHC","short_pith_number":"pith:NTUJF5I4","canonical_record":{"source":{"id":"2303.06714","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-12T17:35:57Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"b0cb2086d931e3a71b1fe3334753e5665b9314e71965e4d4abbdfa232a4f3c8e","abstract_canon_sha256":"e437afc4f8135b087e42af0993e713ed2d76c4b4e8babe305c9e403a1c60b8ae"},"schema_version":"1.0"},"canonical_sha256":"6ce892f51cf66ca2f1f0f4329d93b238b6386b37999df3b024dfa132dc9c6aa7","source":{"kind":"arxiv","id":"2303.06714","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.06714","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"arxiv_version","alias_value":"2303.06714v1","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.06714","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_12","alias_value":"NTUJF5I46ZWK","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_16","alias_value":"NTUJF5I46ZWKF4PQ","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_8","alias_value":"NTUJF5I4","created_at":"2026-07-05T05:50:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:NTUJF5I46ZWKF4PQ6QZJ3E5SHC","target":"record","payload":{"canonical_record":{"source":{"id":"2303.06714","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-12T17:35:57Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"b0cb2086d931e3a71b1fe3334753e5665b9314e71965e4d4abbdfa232a4f3c8e","abstract_canon_sha256":"e437afc4f8135b087e42af0993e713ed2d76c4b4e8babe305c9e403a1c60b8ae"},"schema_version":"1.0"},"canonical_sha256":"6ce892f51cf66ca2f1f0f4329d93b238b6386b37999df3b024dfa132dc9c6aa7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:50:22.172077Z","signature_b64":"MQjdyMHIYNqbEC3iZvUY8kGqPqHgRZkPkDDkmE5nEZP0YVc8W+QpVxQEw1G0mo62b9+P4ECYoKNci+rDZQqbDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6ce892f51cf66ca2f1f0f4329d93b238b6386b37999df3b024dfa132dc9c6aa7","last_reissued_at":"2026-07-05T05:50:22.171689Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:50:22.171689Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.06714","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":"2026-07-05T05:50:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fnI6QGjRYi8uFt965bl5z+Yx8TJksvh8beHbvosvHp1vXv0H7yEYZeWTEjurXjDubJo7TK/ZIYxxD/OBpRtYAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T14:54:11.265037Z"},"content_sha256":"969e68a296ac574b604c44b61d93b1c71b831744855510dc6373c28cf4dd879a","schema_version":"1.0","event_id":"sha256:969e68a296ac574b604c44b61d93b1c71b831744855510dc6373c28cf4dd879a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:NTUJF5I46ZWKF4PQ6QZJ3E5SHC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"BCSSN: Bi-direction Compact Spatial Separable Network for Collision Avoidance in Autonomous Driving","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Haichuan Li, Liguo Zhou","submitted_at":"2023-03-12T17:35:57Z","abstract_excerpt":"Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks have been some of the popular methods used to tackle the complexities of traffic conditions and avoid collisions. However, with the emergence of deep learning, many researchers have turned towards CNN-based methods to improve the performance of collision avoidance. Despite the promising results achieved by some CNN-based methods, the failure to establish cor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.06714","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/2303.06714/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":"2026-07-05T05:50:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0TzTJZRcjNC6CLEz5x9oh20onQNCvb2Aj6QFjTBtuX6jE9fnIDjoUAIl/6kn7Oz2q058Es2tRUiA6yDCytSFAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T14:54:11.265571Z"},"content_sha256":"f263468dbcc370bc23674dabcc67aff0863c9029922fa51c04a88ebe43306b93","schema_version":"1.0","event_id":"sha256:f263468dbcc370bc23674dabcc67aff0863c9029922fa51c04a88ebe43306b93"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/bundle.json","state_url":"https://pith.science/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/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":"2026-08-13T14:54:11Z","links":{"resolver":"https://pith.science/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC","bundle":"https://pith.science/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/bundle.json","state":"https://pith.science/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NTUJF5I46ZWKF4PQ6QZJ3E5SHC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:NTUJF5I46ZWKF4PQ6QZJ3E5SHC","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":"e437afc4f8135b087e42af0993e713ed2d76c4b4e8babe305c9e403a1c60b8ae","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-12T17:35:57Z","title_canon_sha256":"b0cb2086d931e3a71b1fe3334753e5665b9314e71965e4d4abbdfa232a4f3c8e"},"schema_version":"1.0","source":{"id":"2303.06714","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.06714","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"arxiv_version","alias_value":"2303.06714v1","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.06714","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_12","alias_value":"NTUJF5I46ZWK","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_16","alias_value":"NTUJF5I46ZWKF4PQ","created_at":"2026-07-05T05:50:22Z"},{"alias_kind":"pith_short_8","alias_value":"NTUJF5I4","created_at":"2026-07-05T05:50:22Z"}],"graph_snapshots":[{"event_id":"sha256:f263468dbcc370bc23674dabcc67aff0863c9029922fa51c04a88ebe43306b93","target":"graph","created_at":"2026-07-05T05:50:22Z","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/2303.06714/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks have been some of the popular methods used to tackle the complexities of traffic conditions and avoid collisions. However, with the emergence of deep learning, many researchers have turned towards CNN-based methods to improve the performance of collision avoidance. Despite the promising results achieved by some CNN-based methods, the failure to establish cor","authors_text":"Alois Knoll, Haichuan Li, Liguo Zhou","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-12T17:35:57Z","title":"BCSSN: Bi-direction Compact Spatial Separable Network for Collision Avoidance in Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.06714","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":"sha256:969e68a296ac574b604c44b61d93b1c71b831744855510dc6373c28cf4dd879a","target":"record","created_at":"2026-07-05T05:50:22Z","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":"e437afc4f8135b087e42af0993e713ed2d76c4b4e8babe305c9e403a1c60b8ae","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-12T17:35:57Z","title_canon_sha256":"b0cb2086d931e3a71b1fe3334753e5665b9314e71965e4d4abbdfa232a4f3c8e"},"schema_version":"1.0","source":{"id":"2303.06714","kind":"arxiv","version":1}},"canonical_sha256":"6ce892f51cf66ca2f1f0f4329d93b238b6386b37999df3b024dfa132dc9c6aa7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6ce892f51cf66ca2f1f0f4329d93b238b6386b37999df3b024dfa132dc9c6aa7","first_computed_at":"2026-07-05T05:50:22.171689Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:50:22.171689Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MQjdyMHIYNqbEC3iZvUY8kGqPqHgRZkPkDDkmE5nEZP0YVc8W+QpVxQEw1G0mo62b9+P4ECYoKNci+rDZQqbDw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:50:22.172077Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.06714","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:969e68a296ac574b604c44b61d93b1c71b831744855510dc6373c28cf4dd879a","sha256:f263468dbcc370bc23674dabcc67aff0863c9029922fa51c04a88ebe43306b93"],"state_sha256":"4b98e41acb4b18d5f0c9e5d1ee0de83c851d582354544fbbd9dedb625b30722b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SBXZDBdEYfvGXd9T+Vi/eA/o3yRPn/Wl9LOVByoU0J/2uinLWFx1ZOoUzLIz9xBkVbb1NiD1nHHHTeMJNTfIDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T14:54:11.271210Z","bundle_sha256":"2fe941d6e27f7b56b4ab576f69e6674b56aed05a202ba381fd47089539df6f1a"}}