{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:VQ3MJFNVJ7CR6TR2THFC4ML6CD","short_pith_number":"pith:VQ3MJFNV","canonical_record":{"source":{"id":"2007.13732","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2020-07-27T17:59:49Z","cross_cats_sorted":[],"title_canon_sha256":"a8978cda9f8e888208882799b454080a8641c083f6d5f3229907d6fccc1b0bb8","abstract_canon_sha256":"943532a8b069f128d277c1e760bda87b73d9a0b8d72b44f320524c648c6845ca"},"schema_version":"1.0"},"canonical_sha256":"ac36c495b54fc51f4e3a99ca2e317e10e1173111186930f11d45bb87df8d3256","source":{"kind":"arxiv","id":"2007.13732","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.13732","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"arxiv_version","alias_value":"2007.13732v1","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.13732","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_12","alias_value":"VQ3MJFNVJ7CR","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_16","alias_value":"VQ3MJFNVJ7CR6TR2","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_8","alias_value":"VQ3MJFNV","created_at":"2026-07-05T01:22:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:VQ3MJFNVJ7CR6TR2THFC4ML6CD","target":"record","payload":{"canonical_record":{"source":{"id":"2007.13732","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2020-07-27T17:59:49Z","cross_cats_sorted":[],"title_canon_sha256":"a8978cda9f8e888208882799b454080a8641c083f6d5f3229907d6fccc1b0bb8","abstract_canon_sha256":"943532a8b069f128d277c1e760bda87b73d9a0b8d72b44f320524c648c6845ca"},"schema_version":"1.0"},"canonical_sha256":"ac36c495b54fc51f4e3a99ca2e317e10e1173111186930f11d45bb87df8d3256","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:22:27.178916Z","signature_b64":"jrL9eQERy+vxccFykkdwPI7CwGcpb2WeybI351DW7YrYo+yyd1ybKX9JPzUXbw8RvbRARvTHXJAARHb2MMD1BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ac36c495b54fc51f4e3a99ca2e317e10e1173111186930f11d45bb87df8d3256","last_reissued_at":"2026-07-05T01:22:27.178489Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:22:27.178489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.13732","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":"2026-07-05T01:22:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xB8LFL2H9AmM2HvAgdIQjuO5dxhJ+0L5MLU10NFKBAtRgEix0LLCSrnyIgXw4ZeaMpgx7QZfw7eNJh+EctT0Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:34:00.105565Z"},"content_sha256":"bcc258004a5bcc64e90e22c7f8fd1043f167e4f8fe68a32a3ed824f5cabf842f","schema_version":"1.0","event_id":"sha256:bcc258004a5bcc64e90e22c7f8fd1043f167e4f8fe68a32a3ed824f5cabf842f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:VQ3MJFNVJ7CR6TR2THFC4ML6CD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Lane Graph Representations for Motion Forecasting","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Bin Yang, Ming Liang, Raquel Urtasun, Renjie Liao, Rui Hu, Song Feng, Yun Chen","submitted_at":"2020-07-27T17:59:49Z","abstract_excerpt":"We propose a motion forecasting model that exploits a novel structured map representation as well as actor-map interactions. Instead of encoding vectorized maps as raster images, we construct a lane graph from raw map data to explicitly preserve the map structure. To capture the complex topology and long range dependencies of the lane graph, we propose LaneGCN which extends graph convolutions with multiple adjacency matrices and along-lane dilation. To capture the complex interactions between actors and maps, we exploit a fusion network consisting of four types of interactions, actor-to-lane, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.13732","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/2007.13732/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":"2026-07-05T01:22:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c0s7bKyYPHbzUgYOVOltQAG0gEInwZ/omKguLrNVbkCmqDrw0WLqsTuUqGZgsmJLEACwgq5d/Uh6JW8TGL9UCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T02:34:00.106124Z"},"content_sha256":"3129113ca2ff029d9b9e5ec782fd1f1c097998ebc140ba37537dc9648ccf1982","schema_version":"1.0","event_id":"sha256:3129113ca2ff029d9b9e5ec782fd1f1c097998ebc140ba37537dc9648ccf1982"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/bundle.json","state_url":"https://pith.science/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/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":"2026-08-09T02:34:00Z","links":{"resolver":"https://pith.science/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD","bundle":"https://pith.science/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/bundle.json","state":"https://pith.science/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VQ3MJFNVJ7CR6TR2THFC4ML6CD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:VQ3MJFNVJ7CR6TR2THFC4ML6CD","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":"943532a8b069f128d277c1e760bda87b73d9a0b8d72b44f320524c648c6845ca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2020-07-27T17:59:49Z","title_canon_sha256":"a8978cda9f8e888208882799b454080a8641c083f6d5f3229907d6fccc1b0bb8"},"schema_version":"1.0","source":{"id":"2007.13732","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.13732","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"arxiv_version","alias_value":"2007.13732v1","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.13732","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_12","alias_value":"VQ3MJFNVJ7CR","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_16","alias_value":"VQ3MJFNVJ7CR6TR2","created_at":"2026-07-05T01:22:27Z"},{"alias_kind":"pith_short_8","alias_value":"VQ3MJFNV","created_at":"2026-07-05T01:22:27Z"}],"graph_snapshots":[{"event_id":"sha256:3129113ca2ff029d9b9e5ec782fd1f1c097998ebc140ba37537dc9648ccf1982","target":"graph","created_at":"2026-07-05T01:22:27Z","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/2007.13732/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a motion forecasting model that exploits a novel structured map representation as well as actor-map interactions. Instead of encoding vectorized maps as raster images, we construct a lane graph from raw map data to explicitly preserve the map structure. To capture the complex topology and long range dependencies of the lane graph, we propose LaneGCN which extends graph convolutions with multiple adjacency matrices and along-lane dilation. To capture the complex interactions between actors and maps, we exploit a fusion network consisting of four types of interactions, actor-to-lane, ","authors_text":"Bin Yang, Ming Liang, Raquel Urtasun, Renjie Liao, Rui Hu, Song Feng, Yun Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2020-07-27T17:59:49Z","title":"Learning Lane Graph Representations for Motion Forecasting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.13732","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:bcc258004a5bcc64e90e22c7f8fd1043f167e4f8fe68a32a3ed824f5cabf842f","target":"record","created_at":"2026-07-05T01:22:27Z","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":"943532a8b069f128d277c1e760bda87b73d9a0b8d72b44f320524c648c6845ca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.CV","submitted_at":"2020-07-27T17:59:49Z","title_canon_sha256":"a8978cda9f8e888208882799b454080a8641c083f6d5f3229907d6fccc1b0bb8"},"schema_version":"1.0","source":{"id":"2007.13732","kind":"arxiv","version":1}},"canonical_sha256":"ac36c495b54fc51f4e3a99ca2e317e10e1173111186930f11d45bb87df8d3256","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ac36c495b54fc51f4e3a99ca2e317e10e1173111186930f11d45bb87df8d3256","first_computed_at":"2026-07-05T01:22:27.178489Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:22:27.178489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jrL9eQERy+vxccFykkdwPI7CwGcpb2WeybI351DW7YrYo+yyd1ybKX9JPzUXbw8RvbRARvTHXJAARHb2MMD1BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:22:27.178916Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.13732","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bcc258004a5bcc64e90e22c7f8fd1043f167e4f8fe68a32a3ed824f5cabf842f","sha256:3129113ca2ff029d9b9e5ec782fd1f1c097998ebc140ba37537dc9648ccf1982"],"state_sha256":"ff0ccbd1bf6b04938f501cd0b082059d033bca7bc82b8c53d5b2b04b35eec254"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FGqKkOuGsEC5W1/oKPwbIsNDeKMuKFQtiJ8w1W2ZVzs+vOyRRBWtj8euBJ1XEGPWJ4YQMPMlgDNNKG30obEvCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T02:34:00.110250Z","bundle_sha256":"1d30931fe9dede98da37fc35c520bb284d4db3c7fae912bc97d4e7796096f806"}}