{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:P3IB22TAYMIED2GFGPWXOWWL6G","short_pith_number":"pith:P3IB22TA","canonical_record":{"source":{"id":"2101.03279","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-09T03:21:36Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"f5edafa5741444926ea922c1fe9d663c1f57241ca4ed00622e2b1df19dd16c2e","abstract_canon_sha256":"79e8e676b1f37bcebc178a54e919c25a52333f05c93b7f6bc3a5aeb1e398cae6"},"schema_version":"1.0"},"canonical_sha256":"7ed01d6a60c31041e8c533ed775acbf19b78083ac32275a74df5bc5945da1d95","source":{"kind":"arxiv","id":"2101.03279","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.03279","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"arxiv_version","alias_value":"2101.03279v1","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.03279","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_12","alias_value":"P3IB22TAYMIE","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_16","alias_value":"P3IB22TAYMIED2GF","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_8","alias_value":"P3IB22TA","created_at":"2026-07-05T02:05:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:P3IB22TAYMIED2GFGPWXOWWL6G","target":"record","payload":{"canonical_record":{"source":{"id":"2101.03279","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-09T03:21:36Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"f5edafa5741444926ea922c1fe9d663c1f57241ca4ed00622e2b1df19dd16c2e","abstract_canon_sha256":"79e8e676b1f37bcebc178a54e919c25a52333f05c93b7f6bc3a5aeb1e398cae6"},"schema_version":"1.0"},"canonical_sha256":"7ed01d6a60c31041e8c533ed775acbf19b78083ac32275a74df5bc5945da1d95","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:05:48.078190Z","signature_b64":"RzYzZ5fFG1cCVr6sVj1iDbptpYpbI7NEUzBSt2EbcxzRYrXhVxEpv8CG0w/CMq72/HFpEtmIJzQkkP4zKxlNBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7ed01d6a60c31041e8c533ed775acbf19b78083ac32275a74df5bc5945da1d95","last_reissued_at":"2026-07-05T02:05:48.077832Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:05:48.077832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2101.03279","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":"2026-07-05T02:05:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M070XsFaV+pyB406ugagMwQq+prnb9vqgIl/L8H9cpbtptSt7clN4BKZ/uRZWHKAnPZFtVXYDoExvGnLSUH6Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:01:25.775369Z"},"content_sha256":"fa7f62546fb9b140b03bfd782ce4c140a7a5ada210f6313486af5bd2fc088d70","schema_version":"1.0","event_id":"sha256:fa7f62546fb9b140b03bfd782ce4c140a7a5ada210f6313486af5bd2fc088d70"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:P3IB22TAYMIED2GFGPWXOWWL6G","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Investigating the Effect of Sensor Modalities in Multi-Sensor Detection-Prediction Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Abhishek Mohta, Brian C. Becker, Carlos Vallespi-Gonzalez, Fang-Chieh Chou, Nemanja Djuric","submitted_at":"2021-01-09T03:21:36Z","abstract_excerpt":"Detection of surrounding objects and their motion prediction are critical components of a self-driving system. Recently proposed models that jointly address these tasks rely on a number of sensors to achieve state-of-the-art performance. However, this increases system complexity and may result in a brittle model that overfits to any single sensor modality while ignoring others, leading to reduced generalization. We focus on this important problem and analyze the contribution of sensor modalities towards the model performance. In addition, we investigate the use of sensor dropout to mitigate th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.03279","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/2101.03279/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":"2026-07-05T02:05:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v99sphHHU+chL7F8monuiurd/gK7g3DFqnK8fSdOJxeoNzsPPGBvfzHYDGHYwCKtWC0x6jwHPMyPFq0sg5/QAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:01:25.775779Z"},"content_sha256":"0927dfd44a8f37d70896fb5503c2bfc2300e1ccf16ac8479cf84d9cfd1d1a69b","schema_version":"1.0","event_id":"sha256:0927dfd44a8f37d70896fb5503c2bfc2300e1ccf16ac8479cf84d9cfd1d1a69b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/P3IB22TAYMIED2GFGPWXOWWL6G/bundle.json","state_url":"https://pith.science/pith/P3IB22TAYMIED2GFGPWXOWWL6G/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/P3IB22TAYMIED2GFGPWXOWWL6G/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":"2026-07-09T06:01:25Z","links":{"resolver":"https://pith.science/pith/P3IB22TAYMIED2GFGPWXOWWL6G","bundle":"https://pith.science/pith/P3IB22TAYMIED2GFGPWXOWWL6G/bundle.json","state":"https://pith.science/pith/P3IB22TAYMIED2GFGPWXOWWL6G/state.json","well_known_bundle":"https://pith.science/.well-known/pith/P3IB22TAYMIED2GFGPWXOWWL6G/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:P3IB22TAYMIED2GFGPWXOWWL6G","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":"79e8e676b1f37bcebc178a54e919c25a52333f05c93b7f6bc3a5aeb1e398cae6","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-09T03:21:36Z","title_canon_sha256":"f5edafa5741444926ea922c1fe9d663c1f57241ca4ed00622e2b1df19dd16c2e"},"schema_version":"1.0","source":{"id":"2101.03279","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.03279","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"arxiv_version","alias_value":"2101.03279v1","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.03279","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_12","alias_value":"P3IB22TAYMIE","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_16","alias_value":"P3IB22TAYMIED2GF","created_at":"2026-07-05T02:05:48Z"},{"alias_kind":"pith_short_8","alias_value":"P3IB22TA","created_at":"2026-07-05T02:05:48Z"}],"graph_snapshots":[{"event_id":"sha256:0927dfd44a8f37d70896fb5503c2bfc2300e1ccf16ac8479cf84d9cfd1d1a69b","target":"graph","created_at":"2026-07-05T02:05:48Z","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/2101.03279/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Detection of surrounding objects and their motion prediction are critical components of a self-driving system. Recently proposed models that jointly address these tasks rely on a number of sensors to achieve state-of-the-art performance. However, this increases system complexity and may result in a brittle model that overfits to any single sensor modality while ignoring others, leading to reduced generalization. We focus on this important problem and analyze the contribution of sensor modalities towards the model performance. In addition, we investigate the use of sensor dropout to mitigate th","authors_text":"Abhishek Mohta, Brian C. Becker, Carlos Vallespi-Gonzalez, Fang-Chieh Chou, Nemanja Djuric","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-09T03:21:36Z","title":"Investigating the Effect of Sensor Modalities in Multi-Sensor Detection-Prediction Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.03279","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:fa7f62546fb9b140b03bfd782ce4c140a7a5ada210f6313486af5bd2fc088d70","target":"record","created_at":"2026-07-05T02:05:48Z","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":"79e8e676b1f37bcebc178a54e919c25a52333f05c93b7f6bc3a5aeb1e398cae6","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-09T03:21:36Z","title_canon_sha256":"f5edafa5741444926ea922c1fe9d663c1f57241ca4ed00622e2b1df19dd16c2e"},"schema_version":"1.0","source":{"id":"2101.03279","kind":"arxiv","version":1}},"canonical_sha256":"7ed01d6a60c31041e8c533ed775acbf19b78083ac32275a74df5bc5945da1d95","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7ed01d6a60c31041e8c533ed775acbf19b78083ac32275a74df5bc5945da1d95","first_computed_at":"2026-07-05T02:05:48.077832Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:05:48.077832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RzYzZ5fFG1cCVr6sVj1iDbptpYpbI7NEUzBSt2EbcxzRYrXhVxEpv8CG0w/CMq72/HFpEtmIJzQkkP4zKxlNBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:05:48.078190Z","signed_message":"canonical_sha256_bytes"},"source_id":"2101.03279","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fa7f62546fb9b140b03bfd782ce4c140a7a5ada210f6313486af5bd2fc088d70","sha256:0927dfd44a8f37d70896fb5503c2bfc2300e1ccf16ac8479cf84d9cfd1d1a69b"],"state_sha256":"44c6616c10d317a79343b042b2e87b2052796a08c1cb9f13b8a72324357ef3c7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"olMdDqz0Z0jq3A0a4PaBCthktVG58bjD0p7LrXeRravKudH10BqBB10H0uwSRnR2vypKPtw8kTELxSctWrptCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T06:01:25.778177Z","bundle_sha256":"aeb12d61eea62adbfdb5ef307c6d1675b357208ec3ddfdf85b79715bfc659f17"}}