{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:AFVDJXRQHVZNUFRZZ6XOMCCUGI","short_pith_number":"pith:AFVDJXRQ","canonical_record":{"source":{"id":"2605.21406","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T17:04:08Z","cross_cats_sorted":[],"title_canon_sha256":"f5b9748007e3fbb1dbd7ce019eab0f634494aa28d701ffe900db464ee7ab4ffb","abstract_canon_sha256":"4cec670575afb1aff6301c4fd1cae462a16f0ea8254130e3608b6d3e349c7fd6"},"schema_version":"1.0"},"canonical_sha256":"016a34de303d72da1639cfaee608543202cbc9cc3b6930c73ff260b2a219a80c","source":{"kind":"arxiv","id":"2605.21406","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.21406","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"arxiv_version","alias_value":"2605.21406v1","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.21406","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_12","alias_value":"AFVDJXRQHVZN","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_16","alias_value":"AFVDJXRQHVZNUFRZ","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_8","alias_value":"AFVDJXRQ","created_at":"2026-05-21T02:05:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:AFVDJXRQHVZNUFRZZ6XOMCCUGI","target":"record","payload":{"canonical_record":{"source":{"id":"2605.21406","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T17:04:08Z","cross_cats_sorted":[],"title_canon_sha256":"f5b9748007e3fbb1dbd7ce019eab0f634494aa28d701ffe900db464ee7ab4ffb","abstract_canon_sha256":"4cec670575afb1aff6301c4fd1cae462a16f0ea8254130e3608b6d3e349c7fd6"},"schema_version":"1.0"},"canonical_sha256":"016a34de303d72da1639cfaee608543202cbc9cc3b6930c73ff260b2a219a80c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-21T02:05:33.168800Z","signature_b64":"S2FPLl35ctxhE+ZsiBy2PRbtn9w5UByauAj0eOoNR7vvs5Rq7PkTZrG/aWCmGOOqYMQi/LR3ELc95dOEZ8o6Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"016a34de303d72da1639cfaee608543202cbc9cc3b6930c73ff260b2a219a80c","last_reissued_at":"2026-05-21T02:05:33.168084Z","signature_status":"signed_v1","first_computed_at":"2026-05-21T02:05:33.168084Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.21406","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":"2026-05-21T02:05:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3BvrzMuhQV0zUua8OocjM4cgsJre4Y5Mj2frptKGClVCZ3NyEyH5NzUBTCyX6elWHrZazah+++NTxLCJplS3CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T01:55:18.475676Z"},"content_sha256":"84fb491d6cf758e7469b3dc3791d26c3e14e285b22d4ab8523ef70c776ced026","schema_version":"1.0","event_id":"sha256:84fb491d6cf758e7469b3dc3791d26c3e14e285b22d4ab8523ef70c776ced026"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:AFVDJXRQHVZNUFRZZ6XOMCCUGI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MC-Risk: Multi-Component Risk Fields for Risk Identification and Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Maximilian Link, Yingbai Hu, Yingjie Xu, Yinlong Liu","submitted_at":"2026-05-20T17:04:08Z","abstract_excerpt":"We present MC-Risk, a planner-aligned, multi-component risk field on a bird's-eye-view grid that yields early, calibrated, and class-aware risk localization. MC-Risk linearly composes three interpretable modules: (i) a motorized-agent field that fuses a black-box multimodal trajectory predictor with an analytic Gaussian-torus construction whose lateral width grows with speed/curvature and whose height attenuates with look-ahead; (ii) a VRU risk field that replaces isotropic pedestrian blobs with a forward-biased anisotropic kernel aligned to heading and speed; and (iii) a road penalty field th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.21406","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/2605.21406/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":"2026-05-21T02:05:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vL2Ih5sfroRJtZQQYv9i/EvJcqvvpb+uQJlTMo3zM7dXo6SikCBcnPM3QXQ2x018IK7QEbKK9/rggySNxPLHDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T01:55:18.476160Z"},"content_sha256":"a29a9d80f4afe148e0259c3a60161fbdf031bc95428f55d43c3cfd5cfd3ce904","schema_version":"1.0","event_id":"sha256:a29a9d80f4afe148e0259c3a60161fbdf031bc95428f55d43c3cfd5cfd3ce904"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/bundle.json","state_url":"https://pith.science/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/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":"2026-06-11T01:55:18Z","links":{"resolver":"https://pith.science/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI","bundle":"https://pith.science/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/bundle.json","state":"https://pith.science/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AFVDJXRQHVZNUFRZZ6XOMCCUGI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AFVDJXRQHVZNUFRZZ6XOMCCUGI","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":"4cec670575afb1aff6301c4fd1cae462a16f0ea8254130e3608b6d3e349c7fd6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T17:04:08Z","title_canon_sha256":"f5b9748007e3fbb1dbd7ce019eab0f634494aa28d701ffe900db464ee7ab4ffb"},"schema_version":"1.0","source":{"id":"2605.21406","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.21406","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"arxiv_version","alias_value":"2605.21406v1","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.21406","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_12","alias_value":"AFVDJXRQHVZN","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_16","alias_value":"AFVDJXRQHVZNUFRZ","created_at":"2026-05-21T02:05:33Z"},{"alias_kind":"pith_short_8","alias_value":"AFVDJXRQ","created_at":"2026-05-21T02:05:33Z"}],"graph_snapshots":[{"event_id":"sha256:a29a9d80f4afe148e0259c3a60161fbdf031bc95428f55d43c3cfd5cfd3ce904","target":"graph","created_at":"2026-05-21T02:05:33Z","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/2605.21406/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present MC-Risk, a planner-aligned, multi-component risk field on a bird's-eye-view grid that yields early, calibrated, and class-aware risk localization. MC-Risk linearly composes three interpretable modules: (i) a motorized-agent field that fuses a black-box multimodal trajectory predictor with an analytic Gaussian-torus construction whose lateral width grows with speed/curvature and whose height attenuates with look-ahead; (ii) a VRU risk field that replaces isotropic pedestrian blobs with a forward-biased anisotropic kernel aligned to heading and speed; and (iii) a road penalty field th","authors_text":"Maximilian Link, Yingbai Hu, Yingjie Xu, Yinlong Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T17:04:08Z","title":"MC-Risk: Multi-Component Risk Fields for Risk Identification and Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.21406","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":"sha256:84fb491d6cf758e7469b3dc3791d26c3e14e285b22d4ab8523ef70c776ced026","target":"record","created_at":"2026-05-21T02:05:33Z","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":"4cec670575afb1aff6301c4fd1cae462a16f0ea8254130e3608b6d3e349c7fd6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T17:04:08Z","title_canon_sha256":"f5b9748007e3fbb1dbd7ce019eab0f634494aa28d701ffe900db464ee7ab4ffb"},"schema_version":"1.0","source":{"id":"2605.21406","kind":"arxiv","version":1}},"canonical_sha256":"016a34de303d72da1639cfaee608543202cbc9cc3b6930c73ff260b2a219a80c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"016a34de303d72da1639cfaee608543202cbc9cc3b6930c73ff260b2a219a80c","first_computed_at":"2026-05-21T02:05:33.168084Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-21T02:05:33.168084Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"S2FPLl35ctxhE+ZsiBy2PRbtn9w5UByauAj0eOoNR7vvs5Rq7PkTZrG/aWCmGOOqYMQi/LR3ELc95dOEZ8o6Cg==","signature_status":"signed_v1","signed_at":"2026-05-21T02:05:33.168800Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.21406","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:84fb491d6cf758e7469b3dc3791d26c3e14e285b22d4ab8523ef70c776ced026","sha256:a29a9d80f4afe148e0259c3a60161fbdf031bc95428f55d43c3cfd5cfd3ce904"],"state_sha256":"6e03780d08523412898b30e11eeb7dbf29ea455d177e643cfe7b82dc511f1dea"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8v+BU7JA3477+/6FCuvCVyGio3Gxrk+JcHp6kjeusifn3fBDyk7L43vlPzda6WlxMbDIJ/hRThbkx8v+m6KQBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T01:55:18.479900Z","bundle_sha256":"08bfb311b5ddf7db2b4fa248e0053d5ceb0dd0e9f9f0878629c8a0e9566f7495"}}