{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:VM67GXCW6GGD3OOYMLXVU4AEEW","short_pith_number":"pith:VM67GXCW","canonical_record":{"source":{"id":"2310.01723","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T01:20:02Z","cross_cats_sorted":[],"title_canon_sha256":"beb676e83827084134101686b1d9b2d26ded51813c6a8e2f46a6ebcdc2d18685","abstract_canon_sha256":"9000a793e9ffe5317d5e79b316ed0adff2f3c120eeacc898f838a63507a9a41a"},"schema_version":"1.0"},"canonical_sha256":"ab3df35c56f18c3db9d862ef5a70042588f42379a3301747b318d03c207977de","source":{"kind":"arxiv","id":"2310.01723","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01723","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01723v2","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01723","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_12","alias_value":"VM67GXCW6GGD","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_16","alias_value":"VM67GXCW6GGD3OOY","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_8","alias_value":"VM67GXCW","created_at":"2026-07-05T08:07:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:VM67GXCW6GGD3OOYMLXVU4AEEW","target":"record","payload":{"canonical_record":{"source":{"id":"2310.01723","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T01:20:02Z","cross_cats_sorted":[],"title_canon_sha256":"beb676e83827084134101686b1d9b2d26ded51813c6a8e2f46a6ebcdc2d18685","abstract_canon_sha256":"9000a793e9ffe5317d5e79b316ed0adff2f3c120eeacc898f838a63507a9a41a"},"schema_version":"1.0"},"canonical_sha256":"ab3df35c56f18c3db9d862ef5a70042588f42379a3301747b318d03c207977de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:07:11.306053Z","signature_b64":"GzzKiRyfXoE9lIw6pSD/p6ChlYqJnFEmZZbhTd4XakOlyRirjpGeEVFTMClKrJ/3SD5vdxEFBtigI/AhvBUlDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ab3df35c56f18c3db9d862ef5a70042588f42379a3301747b318d03c207977de","last_reissued_at":"2026-07-05T08:07:11.305592Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:07:11.305592Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.01723","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":"2026-07-05T08:07:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AE1Yi1fTqlqCo2lFnCqO9/N0L48Fgbt5RDJFT1BE3gVCyacClrA/3MB6gsnLYGCRoZ6DgKMbbnU+IK2Uxi6SDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T13:07:09.673784Z"},"content_sha256":"d0de0351412db165343cfe4e022971ec28a6af9116d3cb5f0010105f063fcc5d","schema_version":"1.0","event_id":"sha256:d0de0351412db165343cfe4e022971ec28a6af9116d3cb5f0010105f063fcc5d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:VM67GXCW6GGD3OOYMLXVU4AEEW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Esen Yel, Jiachen Li, Maneekwan Toyungyernsub, Mykel J. Kochenderfer","submitted_at":"2023-10-03T01:20:02Z","abstract_excerpt":"For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include predictions where moving objects vanish or become blurred, particularly at longer time horizons. We propose an environment prediction framework that incorporates environment semantics for future occupancy prediction. Our method first semantically segments the environment and uses this information along with the occupancy information to predict the spatiotemporal evol"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01723","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.01723/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":"2026-07-05T08:07:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ll6McvOH0OE+YviziSbLUROZIHpEQiNbSzg7sq6jR698ZltcVhcYB48XvQk0Ih90IZA6b47pY/SvfJd+H6NZCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T13:07:09.674207Z"},"content_sha256":"a7b9dc9b425f20cae9168bed00ce3c5fd03627f5abfa2961fed8e848d99fdcc6","schema_version":"1.0","event_id":"sha256:a7b9dc9b425f20cae9168bed00ce3c5fd03627f5abfa2961fed8e848d99fdcc6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/bundle.json","state_url":"https://pith.science/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/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":"2026-07-12T13:07:09Z","links":{"resolver":"https://pith.science/pith/VM67GXCW6GGD3OOYMLXVU4AEEW","bundle":"https://pith.science/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/bundle.json","state":"https://pith.science/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VM67GXCW6GGD3OOYMLXVU4AEEW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:VM67GXCW6GGD3OOYMLXVU4AEEW","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":"9000a793e9ffe5317d5e79b316ed0adff2f3c120eeacc898f838a63507a9a41a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T01:20:02Z","title_canon_sha256":"beb676e83827084134101686b1d9b2d26ded51813c6a8e2f46a6ebcdc2d18685"},"schema_version":"1.0","source":{"id":"2310.01723","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01723","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01723v2","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01723","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_12","alias_value":"VM67GXCW6GGD","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_16","alias_value":"VM67GXCW6GGD3OOY","created_at":"2026-07-05T08:07:11Z"},{"alias_kind":"pith_short_8","alias_value":"VM67GXCW","created_at":"2026-07-05T08:07:11Z"}],"graph_snapshots":[{"event_id":"sha256:a7b9dc9b425f20cae9168bed00ce3c5fd03627f5abfa2961fed8e848d99fdcc6","target":"graph","created_at":"2026-07-05T08:07:11Z","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/2310.01723/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include predictions where moving objects vanish or become blurred, particularly at longer time horizons. We propose an environment prediction framework that incorporates environment semantics for future occupancy prediction. Our method first semantically segments the environment and uses this information along with the occupancy information to predict the spatiotemporal evol","authors_text":"Esen Yel, Jiachen Li, Maneekwan Toyungyernsub, Mykel J. Kochenderfer","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T01:20:02Z","title":"Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01723","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:d0de0351412db165343cfe4e022971ec28a6af9116d3cb5f0010105f063fcc5d","target":"record","created_at":"2026-07-05T08:07:11Z","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":"9000a793e9ffe5317d5e79b316ed0adff2f3c120eeacc898f838a63507a9a41a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T01:20:02Z","title_canon_sha256":"beb676e83827084134101686b1d9b2d26ded51813c6a8e2f46a6ebcdc2d18685"},"schema_version":"1.0","source":{"id":"2310.01723","kind":"arxiv","version":2}},"canonical_sha256":"ab3df35c56f18c3db9d862ef5a70042588f42379a3301747b318d03c207977de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ab3df35c56f18c3db9d862ef5a70042588f42379a3301747b318d03c207977de","first_computed_at":"2026-07-05T08:07:11.305592Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:07:11.305592Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GzzKiRyfXoE9lIw6pSD/p6ChlYqJnFEmZZbhTd4XakOlyRirjpGeEVFTMClKrJ/3SD5vdxEFBtigI/AhvBUlDw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:07:11.306053Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.01723","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d0de0351412db165343cfe4e022971ec28a6af9116d3cb5f0010105f063fcc5d","sha256:a7b9dc9b425f20cae9168bed00ce3c5fd03627f5abfa2961fed8e848d99fdcc6"],"state_sha256":"3815f25deb4ce2c6070325db71a27104e1d7fe987f88f51d0aefd3660871751d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qzhS7fOPzWnTKREcX9/LTLfi3KZj0XEo+akmY2HvfQZjVTCE+YuyIDIeLobnzSkjk21AWIQSfwTOkpOCx+LEDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T13:07:09.677738Z","bundle_sha256":"6c99d10ef81ea8a4d58ea2e4e505c0b2a93c9f427077938b2e97154196813aff"}}