{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:R2RGJDPZRD2JP3HFSYFIFWOVMM","short_pith_number":"pith:R2RGJDPZ","canonical_record":{"source":{"id":"2006.02636","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-04T03:56:11Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO","stat.ML"],"title_canon_sha256":"85e07b783695de97c8194922abd5d6709f8eeb3ebf745d19a7382c431f3d63bc","abstract_canon_sha256":"e1a7443a0f3708bb285209aa8d6e1ef8b0eaada9a1ec4c652dc8e1bfea081ee9"},"schema_version":"1.0"},"canonical_sha256":"8ea2648df988f497ece5960a82d9d563299809757ccee7fa322f25e1e5bbf82b","source":{"kind":"arxiv","id":"2006.02636","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.02636","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"arxiv_version","alias_value":"2006.02636v1","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.02636","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_12","alias_value":"R2RGJDPZRD2J","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_16","alias_value":"R2RGJDPZRD2JP3HF","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_8","alias_value":"R2RGJDPZ","created_at":"2026-07-05T01:07:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:R2RGJDPZRD2JP3HFSYFIFWOVMM","target":"record","payload":{"canonical_record":{"source":{"id":"2006.02636","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-04T03:56:11Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO","stat.ML"],"title_canon_sha256":"85e07b783695de97c8194922abd5d6709f8eeb3ebf745d19a7382c431f3d63bc","abstract_canon_sha256":"e1a7443a0f3708bb285209aa8d6e1ef8b0eaada9a1ec4c652dc8e1bfea081ee9"},"schema_version":"1.0"},"canonical_sha256":"8ea2648df988f497ece5960a82d9d563299809757ccee7fa322f25e1e5bbf82b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:07:58.493031Z","signature_b64":"cjzzBhANei29Rt6/hReJeDtsYwzPpIrMxRT9I4GrIoxE6jNPXJZJwhkF5lXY+ptB6mI5jeR1rYxPRT4DroYHAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8ea2648df988f497ece5960a82d9d563299809757ccee7fa322f25e1e5bbf82b","last_reissued_at":"2026-07-05T01:07:58.492559Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:07:58.492559Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2006.02636","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":"2026-07-05T01:07:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WNvFK8fENLEnx8O8rw3xmlfE1pmu8iYhN/awgy178JWJxG6ZV5Z7miQshXCGvh+1ADcNL+x9v6R5x5Xk/YaqBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T13:51:00.926302Z"},"content_sha256":"7e925b3f1fccf5a7e24c7a91b0a5bd156d283747bee70b223e56945819e91901","schema_version":"1.0","event_id":"sha256:7e925b3f1fccf5a7e24c7a91b0a5bd156d283747bee70b223e56945819e91901"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:R2RGJDPZRD2JP3HFSYFIFWOVMM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"The Importance of Prior Knowledge in Precise Multimodal Prediction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.RO","stat.ML"],"primary_cat":"cs.CV","authors_text":"Cole Gulino, Raquel Urtasun, Sergio Casas, Simon Suo","submitted_at":"2020-06-04T03:56:11Z","abstract_excerpt":"Roads have well defined geometries, topologies, and traffic rules. While this has been widely exploited in motion planning methods to produce maneuvers that obey the law, little work has been devoted to utilize these priors in perception and motion forecasting methods. In this paper we propose to incorporate these structured priors as a loss function. In contrast to imposing hard constraints, this approach allows the model to handle non-compliant maneuvers when those happen in the real world. Safe motion planning is the end goal, and thus a probabilistic characterization of the possible future"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.02636","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/2006.02636/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":"2026-07-05T01:07:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rllIxVcADSs3U1lJCBjmfLc2aKNY4lQoutxE21krhDQvPFlxHUv5/43yvrf5IAzCw3RlocS6P+sgQ77hWg7QDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T13:51:00.926921Z"},"content_sha256":"168e7d57face2a5b676fced3ad995557e68609264c0298dc98c642c0e464d7e2","schema_version":"1.0","event_id":"sha256:168e7d57face2a5b676fced3ad995557e68609264c0298dc98c642c0e464d7e2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/bundle.json","state_url":"https://pith.science/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/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":"2026-07-05T13:51:00Z","links":{"resolver":"https://pith.science/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM","bundle":"https://pith.science/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/bundle.json","state":"https://pith.science/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R2RGJDPZRD2JP3HFSYFIFWOVMM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:R2RGJDPZRD2JP3HFSYFIFWOVMM","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":"e1a7443a0f3708bb285209aa8d6e1ef8b0eaada9a1ec4c652dc8e1bfea081ee9","cross_cats_sorted":["cs.AI","cs.LG","cs.RO","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-04T03:56:11Z","title_canon_sha256":"85e07b783695de97c8194922abd5d6709f8eeb3ebf745d19a7382c431f3d63bc"},"schema_version":"1.0","source":{"id":"2006.02636","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.02636","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"arxiv_version","alias_value":"2006.02636v1","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.02636","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_12","alias_value":"R2RGJDPZRD2J","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_16","alias_value":"R2RGJDPZRD2JP3HF","created_at":"2026-07-05T01:07:58Z"},{"alias_kind":"pith_short_8","alias_value":"R2RGJDPZ","created_at":"2026-07-05T01:07:58Z"}],"graph_snapshots":[{"event_id":"sha256:168e7d57face2a5b676fced3ad995557e68609264c0298dc98c642c0e464d7e2","target":"graph","created_at":"2026-07-05T01:07:58Z","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/2006.02636/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Roads have well defined geometries, topologies, and traffic rules. While this has been widely exploited in motion planning methods to produce maneuvers that obey the law, little work has been devoted to utilize these priors in perception and motion forecasting methods. In this paper we propose to incorporate these structured priors as a loss function. In contrast to imposing hard constraints, this approach allows the model to handle non-compliant maneuvers when those happen in the real world. Safe motion planning is the end goal, and thus a probabilistic characterization of the possible future","authors_text":"Cole Gulino, Raquel Urtasun, Sergio Casas, Simon Suo","cross_cats":["cs.AI","cs.LG","cs.RO","stat.ML"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-04T03:56:11Z","title":"The Importance of Prior Knowledge in Precise Multimodal Prediction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.02636","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":"sha256:7e925b3f1fccf5a7e24c7a91b0a5bd156d283747bee70b223e56945819e91901","target":"record","created_at":"2026-07-05T01:07:58Z","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":"e1a7443a0f3708bb285209aa8d6e1ef8b0eaada9a1ec4c652dc8e1bfea081ee9","cross_cats_sorted":["cs.AI","cs.LG","cs.RO","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2020-06-04T03:56:11Z","title_canon_sha256":"85e07b783695de97c8194922abd5d6709f8eeb3ebf745d19a7382c431f3d63bc"},"schema_version":"1.0","source":{"id":"2006.02636","kind":"arxiv","version":1}},"canonical_sha256":"8ea2648df988f497ece5960a82d9d563299809757ccee7fa322f25e1e5bbf82b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8ea2648df988f497ece5960a82d9d563299809757ccee7fa322f25e1e5bbf82b","first_computed_at":"2026-07-05T01:07:58.492559Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:07:58.492559Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cjzzBhANei29Rt6/hReJeDtsYwzPpIrMxRT9I4GrIoxE6jNPXJZJwhkF5lXY+ptB6mI5jeR1rYxPRT4DroYHAw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:07:58.493031Z","signed_message":"canonical_sha256_bytes"},"source_id":"2006.02636","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e925b3f1fccf5a7e24c7a91b0a5bd156d283747bee70b223e56945819e91901","sha256:168e7d57face2a5b676fced3ad995557e68609264c0298dc98c642c0e464d7e2"],"state_sha256":"b4c764f75690445803d17ca17e56cd818f23cfa00fce96f47566b121111adc16"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tlfpYoVeF6uMiFmRoZS6rCATBtVx4IAUen/vVlT0pUs/xZM3ehw3U/ufBAqR4+uAx54/qtYpaOWgZCJiQ4XXAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T13:51:00.930472Z","bundle_sha256":"10673029165598d2b82fda6e700ae4e692d3186387b5be52f06c487d4df22669"}}