{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:QCHE63WOEBIZBJXKXR3CKZGJW4","short_pith_number":"pith:QCHE63WO","canonical_record":{"source":{"id":"1903.00848","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-03T06:54:33Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"f8c0fd41658cb4b0732c85504ab334d7231b76b539daced020072a0f94752c9a","abstract_canon_sha256":"a76d9b98f289f2346b7f1f7d39118706567aac8f3c9c3a18fcb03d41ca19454b"},"schema_version":"1.0"},"canonical_sha256":"808e4f6ece205190a6eabc762564c9b71b93967b3c2761c9a94189e0d358fd2b","source":{"kind":"arxiv","id":"1903.00848","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.00848","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"arxiv_version","alias_value":"1903.00848v2","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.00848","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"pith_short_12","alias_value":"QCHE63WOEBIZ","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"QCHE63WOEBIZBJXK","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"QCHE63WO","created_at":"2026-05-18T12:33:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:QCHE63WOEBIZBJXKXR3CKZGJW4","target":"record","payload":{"canonical_record":{"source":{"id":"1903.00848","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-03T06:54:33Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"f8c0fd41658cb4b0732c85504ab334d7231b76b539daced020072a0f94752c9a","abstract_canon_sha256":"a76d9b98f289f2346b7f1f7d39118706567aac8f3c9c3a18fcb03d41ca19454b"},"schema_version":"1.0"},"canonical_sha256":"808e4f6ece205190a6eabc762564c9b71b93967b3c2761c9a94189e0d358fd2b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:44:29.163260Z","signature_b64":"2InJbwXZwDILw3KhEY4zgx5GQPhihQkMkZ8jHHpB4a3inqLJpfv4NwHAEEY1CvWxGVYdIKZI4D+lWy12MRdmCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"808e4f6ece205190a6eabc762564c9b71b93967b3c2761c9a94189e0d358fd2b","last_reissued_at":"2026-05-17T23:44:29.162783Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:44:29.162783Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.00848","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:44:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SjjO2UpaTWfbZTrc6n3jvErQcVUmCcuOtORqg4Tiu2Kt5wZYufdKJM2FFO4y/9b/Qfr2H5hw2MalnAZw+IdZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T09:41:21.853851Z"},"content_sha256":"827a79f31973e4c9b10ce99e76f1968d1a1cad184ee04f58335fdc072ef2c72b","schema_version":"1.0","event_id":"sha256:827a79f31973e4c9b10ce99e76f1968d1a1cad184ee04f58335fdc072ef2c72b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:QCHE63WOEBIZBJXKXR3CKZGJW4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Jing Chen, Shaojie Shen, Wenchao Ding","submitted_at":"2019-03-03T06:54:33Z","abstract_excerpt":"Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and space for planning. To avoid unsatisfactory reactive decisions, it is essential to count long-term future rewards in planning, which requires extending the prediction horizon. In this paper, we uncover that clues to vehicle behaviors over an extended horizon can be found in vehicle interaction, which makes it possible to anticipate the likelihood of a certai"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.00848","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-17T23:44:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FPD/OlQVbimsE76qShf3/a8dKtlwmLGzCkvJHMchFFSV5YLzCy69xR1WWpecYZQJuS68Cbfj1f2ywvXZfcESCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T09:41:21.854441Z"},"content_sha256":"1d5166dfa886b4a1cb35bf2a7f573623c23bdffc1b808eeb0a6890d50cbcc9c2","schema_version":"1.0","event_id":"sha256:1d5166dfa886b4a1cb35bf2a7f573623c23bdffc1b808eeb0a6890d50cbcc9c2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/bundle.json","state_url":"https://pith.science/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/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":"2026-06-08T09:41:21Z","links":{"resolver":"https://pith.science/pith/QCHE63WOEBIZBJXKXR3CKZGJW4","bundle":"https://pith.science/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/bundle.json","state":"https://pith.science/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QCHE63WOEBIZBJXKXR3CKZGJW4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:QCHE63WOEBIZBJXKXR3CKZGJW4","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":"a76d9b98f289f2346b7f1f7d39118706567aac8f3c9c3a18fcb03d41ca19454b","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-03T06:54:33Z","title_canon_sha256":"f8c0fd41658cb4b0732c85504ab334d7231b76b539daced020072a0f94752c9a"},"schema_version":"1.0","source":{"id":"1903.00848","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.00848","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"arxiv_version","alias_value":"1903.00848v2","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.00848","created_at":"2026-05-17T23:44:29Z"},{"alias_kind":"pith_short_12","alias_value":"QCHE63WOEBIZ","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"QCHE63WOEBIZBJXK","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"QCHE63WO","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:1d5166dfa886b4a1cb35bf2a7f573623c23bdffc1b808eeb0a6890d50cbcc9c2","target":"graph","created_at":"2026-05-17T23:44:29Z","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"},"paper":{"abstract_excerpt":"Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and space for planning. To avoid unsatisfactory reactive decisions, it is essential to count long-term future rewards in planning, which requires extending the prediction horizon. In this paper, we uncover that clues to vehicle behaviors over an extended horizon can be found in vehicle interaction, which makes it possible to anticipate the likelihood of a certai","authors_text":"Jing Chen, Shaojie Shen, Wenchao Ding","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-03T06:54:33Z","title":"Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.00848","kind":"arxiv","version":2},"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":"sha256:827a79f31973e4c9b10ce99e76f1968d1a1cad184ee04f58335fdc072ef2c72b","target":"record","created_at":"2026-05-17T23:44:29Z","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":"a76d9b98f289f2346b7f1f7d39118706567aac8f3c9c3a18fcb03d41ca19454b","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-03T06:54:33Z","title_canon_sha256":"f8c0fd41658cb4b0732c85504ab334d7231b76b539daced020072a0f94752c9a"},"schema_version":"1.0","source":{"id":"1903.00848","kind":"arxiv","version":2}},"canonical_sha256":"808e4f6ece205190a6eabc762564c9b71b93967b3c2761c9a94189e0d358fd2b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"808e4f6ece205190a6eabc762564c9b71b93967b3c2761c9a94189e0d358fd2b","first_computed_at":"2026-05-17T23:44:29.162783Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:44:29.162783Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2InJbwXZwDILw3KhEY4zgx5GQPhihQkMkZ8jHHpB4a3inqLJpfv4NwHAEEY1CvWxGVYdIKZI4D+lWy12MRdmCQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:44:29.163260Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.00848","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:827a79f31973e4c9b10ce99e76f1968d1a1cad184ee04f58335fdc072ef2c72b","sha256:1d5166dfa886b4a1cb35bf2a7f573623c23bdffc1b808eeb0a6890d50cbcc9c2"],"state_sha256":"ab3a7edf00b984b0b2be6776321bcafc4f6737b3d1a5504ce376fc5c72258d7d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ovNpYgCqP8KfS0hHOOd7PEmkbbY2muaeSPAFD+wRMeiwB4zf3cfS7k0E8BisYF7I42vhsMlgV7uiRBlphOYlCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T09:41:21.858122Z","bundle_sha256":"5e3a6a72791a6b445a031b72960436b00dc36ef851ab0b4bdc5758ace56d8d26"}}