{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM","short_pith_number":"pith:Q6ZHD4ZZ","canonical_record":{"source":{"id":"2109.10024","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-21T08:27:56Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"25b4b21877c98fc4053358aefe30deee8190570488e335988c514d17bfbb114d","abstract_canon_sha256":"4b0958cf65d75136cf32fe6dd07db92ae7cf6086a7b364cf2ad01fb3a089b34a"},"schema_version":"1.0"},"canonical_sha256":"87b271f339e4a021b0b8e0627022e0b33400525c3a319672da7fa6ca7d7c6956","source":{"kind":"arxiv","id":"2109.10024","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.10024","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"2109.10024v1","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.10024","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"Q6ZHD4ZZ4SQC","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_16","alias_value":"Q6ZHD4ZZ4SQCDMFY","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_8","alias_value":"Q6ZHD4ZZ","created_at":"2026-07-05T03:15:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM","target":"record","payload":{"canonical_record":{"source":{"id":"2109.10024","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-21T08:27:56Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"25b4b21877c98fc4053358aefe30deee8190570488e335988c514d17bfbb114d","abstract_canon_sha256":"4b0958cf65d75136cf32fe6dd07db92ae7cf6086a7b364cf2ad01fb3a089b34a"},"schema_version":"1.0"},"canonical_sha256":"87b271f339e4a021b0b8e0627022e0b33400525c3a319672da7fa6ca7d7c6956","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:15:57.160368Z","signature_b64":"lwuysH0MlXEfSHg4DaZg4I6G7mGQzG/8nCdyWzlSJh+5nM5bFJEneLnniQHoB8DLaI9z8tR77s8ZJlByjsPABg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"87b271f339e4a021b0b8e0627022e0b33400525c3a319672da7fa6ca7d7c6956","last_reissued_at":"2026-07-05T03:15:57.159939Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:15:57.159939Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.10024","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":"2026-07-05T03:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J4x1K6gmV1Kx4/9UbsEhkmnl875MQGnEFFIu4w89sP7cdp+Iqwov11nlN9XZKSj/m21CkJ1Rlp0PgxKlqDnpBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T01:22:21.179385Z"},"content_sha256":"b28aad6bcf33276dd90ce9e30a0de0acce93aa358a08e675caeab17aecfcba4f","schema_version":"1.0","event_id":"sha256:b28aad6bcf33276dd90ce9e30a0de0acce93aa358a08e675caeab17aecfcba4f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Supervised Action-Space Prediction for Automated Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Faris Janjo\\v{s}, J. Marius Z\\\"ollner, Maxim Dolgov","submitted_at":"2021-09-21T08:27:56Z","abstract_excerpt":"Making informed driving decisions requires reliable prediction of other vehicles' trajectories. In this paper, we present a novel learned multi-modal trajectory prediction architecture for automated driving. It achieves kinematically feasible predictions by casting the learning problem into the space of accelerations and steering angles -- by performing action-space prediction, we can leverage valuable model knowledge. Additionally, the dimensionality of the action manifold is lower than that of the state manifold, whose intrinsically correlated states are more difficult to capture in a learne"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.10024","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/2109.10024/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":"2026-07-05T03:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wOBSDv4g0Qhux0WU+jNxnqh0DS3qu7gyx/0p7AvCOzM6IZgyoe5LkpvuFWwCO3a3I6qWQ4raPcAuVwjbOI0CCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T01:22:21.179890Z"},"content_sha256":"2aebe7b060aab069a73a44fbb874599df5ec0b6df405f84be1219597a112c32c","schema_version":"1.0","event_id":"sha256:2aebe7b060aab069a73a44fbb874599df5ec0b6df405f84be1219597a112c32c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/bundle.json","state_url":"https://pith.science/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/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":"2026-08-04T01:22:21Z","links":{"resolver":"https://pith.science/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM","bundle":"https://pith.science/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/bundle.json","state":"https://pith.science/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:Q6ZHD4ZZ4SQCDMFY4BRHAIXAWM","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":"4b0958cf65d75136cf32fe6dd07db92ae7cf6086a7b364cf2ad01fb3a089b34a","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-21T08:27:56Z","title_canon_sha256":"25b4b21877c98fc4053358aefe30deee8190570488e335988c514d17bfbb114d"},"schema_version":"1.0","source":{"id":"2109.10024","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.10024","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"2109.10024v1","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.10024","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"Q6ZHD4ZZ4SQC","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_16","alias_value":"Q6ZHD4ZZ4SQCDMFY","created_at":"2026-07-05T03:15:57Z"},{"alias_kind":"pith_short_8","alias_value":"Q6ZHD4ZZ","created_at":"2026-07-05T03:15:57Z"}],"graph_snapshots":[{"event_id":"sha256:2aebe7b060aab069a73a44fbb874599df5ec0b6df405f84be1219597a112c32c","target":"graph","created_at":"2026-07-05T03:15:57Z","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/2109.10024/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Making informed driving decisions requires reliable prediction of other vehicles' trajectories. In this paper, we present a novel learned multi-modal trajectory prediction architecture for automated driving. It achieves kinematically feasible predictions by casting the learning problem into the space of accelerations and steering angles -- by performing action-space prediction, we can leverage valuable model knowledge. Additionally, the dimensionality of the action manifold is lower than that of the state manifold, whose intrinsically correlated states are more difficult to capture in a learne","authors_text":"Faris Janjo\\v{s}, J. Marius Z\\\"ollner, Maxim Dolgov","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-21T08:27:56Z","title":"Self-Supervised Action-Space Prediction for Automated Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.10024","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:b28aad6bcf33276dd90ce9e30a0de0acce93aa358a08e675caeab17aecfcba4f","target":"record","created_at":"2026-07-05T03:15:57Z","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":"4b0958cf65d75136cf32fe6dd07db92ae7cf6086a7b364cf2ad01fb3a089b34a","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-21T08:27:56Z","title_canon_sha256":"25b4b21877c98fc4053358aefe30deee8190570488e335988c514d17bfbb114d"},"schema_version":"1.0","source":{"id":"2109.10024","kind":"arxiv","version":1}},"canonical_sha256":"87b271f339e4a021b0b8e0627022e0b33400525c3a319672da7fa6ca7d7c6956","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"87b271f339e4a021b0b8e0627022e0b33400525c3a319672da7fa6ca7d7c6956","first_computed_at":"2026-07-05T03:15:57.159939Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:15:57.159939Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lwuysH0MlXEfSHg4DaZg4I6G7mGQzG/8nCdyWzlSJh+5nM5bFJEneLnniQHoB8DLaI9z8tR77s8ZJlByjsPABg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:15:57.160368Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.10024","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b28aad6bcf33276dd90ce9e30a0de0acce93aa358a08e675caeab17aecfcba4f","sha256:2aebe7b060aab069a73a44fbb874599df5ec0b6df405f84be1219597a112c32c"],"state_sha256":"101d5b917c4218b833cf8d6c9a2a94cd40d64fbbed7f6042f1c7e9f5bc5467b6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PkWnVPggud/6r3tLk8Ny60m/kysZnkJx/FNOjhqvUPkSjJbUxXlGW3YAph+vYZoE5KJc1lDG1SrseBTbIwTCCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T01:22:21.185176Z","bundle_sha256":"9597111d504f0d20767cec097deea1baeec188f176b506d9db8d88a229780e11"}}