{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:25J6LGAAYOHNSZSFEOXAOBZP6Y","short_pith_number":"pith:25J6LGAA","canonical_record":{"source":{"id":"2501.12408","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2025-01-17T03:35:11Z","cross_cats_sorted":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"title_canon_sha256":"62e74a2b67cadbd478ec7e3de53369f9451dc57b27353c3fd11d2b8ab8f7021f","abstract_canon_sha256":"04a5f0edcc2baf8d77b8ff9f15ba9a78a092b8cf70bfdefbeb49a206756b6633"},"schema_version":"1.0"},"canonical_sha256":"d753e59800c38ed9664523ae07072ff6327c3cbd5c115483e1fba82ecfca2dc7","source":{"kind":"arxiv","id":"2501.12408","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.12408","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"arxiv_version","alias_value":"2501.12408v1","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.12408","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_12","alias_value":"25J6LGAAYOHN","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_16","alias_value":"25J6LGAAYOHNSZSF","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_8","alias_value":"25J6LGAA","created_at":"2026-07-05T10:03:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:25J6LGAAYOHNSZSFEOXAOBZP6Y","target":"record","payload":{"canonical_record":{"source":{"id":"2501.12408","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2025-01-17T03:35:11Z","cross_cats_sorted":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"title_canon_sha256":"62e74a2b67cadbd478ec7e3de53369f9451dc57b27353c3fd11d2b8ab8f7021f","abstract_canon_sha256":"04a5f0edcc2baf8d77b8ff9f15ba9a78a092b8cf70bfdefbeb49a206756b6633"},"schema_version":"1.0"},"canonical_sha256":"d753e59800c38ed9664523ae07072ff6327c3cbd5c115483e1fba82ecfca2dc7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:03:52.515364Z","signature_b64":"DZ3uy2vPPdj3xoWzArjszu7Dwm2Jfu6PsV232YOybclX8DayNlKnxU2dycCm1csHpKsd0MJNXvW1HC/xEErWCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d753e59800c38ed9664523ae07072ff6327c3cbd5c115483e1fba82ecfca2dc7","last_reissued_at":"2026-07-05T10:03:52.514852Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:03:52.514852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2501.12408","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":"2026-07-05T10:03:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5YEl2k8+P7Mus1zd7YlVSxfvE0fK0AkA7/8r2+IRT4yoi+Q/W7asVvtpZSMILX8+TDMJY0f8KXFBSUR3otOkAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:28.256901Z"},"content_sha256":"bee4995c06a14d099d5acddec1ab465d5d77cd3579f4c6d016447d73f33e1ad5","schema_version":"1.0","event_id":"sha256:bee4995c06a14d099d5acddec1ab465d5d77cd3579f4c6d016447d73f33e1ad5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:25J6LGAAYOHNSZSFEOXAOBZP6Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control-ITRA: Controlling the Behavior of a Driving Model","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"primary_cat":"cs.AI","authors_text":"Adam Scibior, Berend Zwartsenberg, Frank Wood, Matthew Niedoba, Vasileios Lioutas","submitted_at":"2025-01-17T03:35:11Z","abstract_excerpt":"Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific research needs and safety considerations. This paper extends the general-purpose multi-agent driving behavior model ITRA (Scibior et al., 2021), by introducing a method called Control-ITRA to influence agent behavior through waypoint assignment and target speed modulation. By conditioning agents on these two aspects, we provide a mechanism for them to adhere to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.12408","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/2501.12408/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":"2026-07-05T10:03:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KwMRw2oDp41AnAM1ZyqECvffPwg3J6o0IvW3e6lkcJO8iddGq+JxR0fyYD/vjMUvTk+R4PyiVfg3rmd85GXRDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:57:28.257281Z"},"content_sha256":"73bcc4c0658f652f5ac6c32f77020bbdacd1e89ae800b9169fa46387b02643e4","schema_version":"1.0","event_id":"sha256:73bcc4c0658f652f5ac6c32f77020bbdacd1e89ae800b9169fa46387b02643e4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/bundle.json","state_url":"https://pith.science/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/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":"2026-07-06T20:57:28Z","links":{"resolver":"https://pith.science/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y","bundle":"https://pith.science/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/bundle.json","state":"https://pith.science/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/25J6LGAAYOHNSZSFEOXAOBZP6Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:25J6LGAAYOHNSZSFEOXAOBZP6Y","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":"04a5f0edcc2baf8d77b8ff9f15ba9a78a092b8cf70bfdefbeb49a206756b6633","cross_cats_sorted":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2025-01-17T03:35:11Z","title_canon_sha256":"62e74a2b67cadbd478ec7e3de53369f9451dc57b27353c3fd11d2b8ab8f7021f"},"schema_version":"1.0","source":{"id":"2501.12408","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.12408","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"arxiv_version","alias_value":"2501.12408v1","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.12408","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_12","alias_value":"25J6LGAAYOHN","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_16","alias_value":"25J6LGAAYOHNSZSF","created_at":"2026-07-05T10:03:52Z"},{"alias_kind":"pith_short_8","alias_value":"25J6LGAA","created_at":"2026-07-05T10:03:52Z"}],"graph_snapshots":[{"event_id":"sha256:73bcc4c0658f652f5ac6c32f77020bbdacd1e89ae800b9169fa46387b02643e4","target":"graph","created_at":"2026-07-05T10:03:52Z","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/2501.12408/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific research needs and safety considerations. This paper extends the general-purpose multi-agent driving behavior model ITRA (Scibior et al., 2021), by introducing a method called Control-ITRA to influence agent behavior through waypoint assignment and target speed modulation. By conditioning agents on these two aspects, we provide a mechanism for them to adhere to","authors_text":"Adam Scibior, Berend Zwartsenberg, Frank Wood, Matthew Niedoba, Vasileios Lioutas","cross_cats":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2025-01-17T03:35:11Z","title":"Control-ITRA: Controlling the Behavior of a Driving Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.12408","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:bee4995c06a14d099d5acddec1ab465d5d77cd3579f4c6d016447d73f33e1ad5","target":"record","created_at":"2026-07-05T10:03:52Z","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":"04a5f0edcc2baf8d77b8ff9f15ba9a78a092b8cf70bfdefbeb49a206756b6633","cross_cats_sorted":["cs.LG","cs.RO","cs.SY","eess.SY","stat.ML"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2025-01-17T03:35:11Z","title_canon_sha256":"62e74a2b67cadbd478ec7e3de53369f9451dc57b27353c3fd11d2b8ab8f7021f"},"schema_version":"1.0","source":{"id":"2501.12408","kind":"arxiv","version":1}},"canonical_sha256":"d753e59800c38ed9664523ae07072ff6327c3cbd5c115483e1fba82ecfca2dc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d753e59800c38ed9664523ae07072ff6327c3cbd5c115483e1fba82ecfca2dc7","first_computed_at":"2026-07-05T10:03:52.514852Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:03:52.514852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DZ3uy2vPPdj3xoWzArjszu7Dwm2Jfu6PsV232YOybclX8DayNlKnxU2dycCm1csHpKsd0MJNXvW1HC/xEErWCw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:03:52.515364Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.12408","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bee4995c06a14d099d5acddec1ab465d5d77cd3579f4c6d016447d73f33e1ad5","sha256:73bcc4c0658f652f5ac6c32f77020bbdacd1e89ae800b9169fa46387b02643e4"],"state_sha256":"81b9a8e55363a24660a5b7a76bb919dc11219fcb347d690c511d308bf3fb0542"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K7oF+3AkUJeFWs++dqZ1cRel3cdO2+Z0znmOKREVNW5s2ecGFyGMbgc3iuQQVtfpQrIbQKqy7K/SlvOeUsPKBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T20:57:28.259283Z","bundle_sha256":"bf864799d1c4fa3284912848823e0e96763b97866d9711841435774d18801fa3"}}