{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2TZRMTGUCTVNGLA2OADGAXTTQC","short_pith_number":"pith:2TZRMTGU","canonical_record":{"source":{"id":"2408.04821","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-09T02:27:25Z","cross_cats_sorted":[],"title_canon_sha256":"4bd01a1ec357519561debfe6e9fa95ddeba0ef105d8358535b6bd0ce53ff70df","abstract_canon_sha256":"6d2e33fee44111498eaf43d0b5e967d66aec6944673b8b10f4af7e9cd4d4993c"},"schema_version":"1.0"},"canonical_sha256":"d4f3164cd414ead32c1a7006605e7380960014e650bec35cde3d09679d770a31","source":{"kind":"arxiv","id":"2408.04821","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.04821","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2408.04821v2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.04821","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"2TZRMTGUCTVN","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"2TZRMTGUCTVNGLA2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"2TZRMTGU","created_at":"2026-07-05T09:14:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2TZRMTGUCTVNGLA2OADGAXTTQC","target":"record","payload":{"canonical_record":{"source":{"id":"2408.04821","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-09T02:27:25Z","cross_cats_sorted":[],"title_canon_sha256":"4bd01a1ec357519561debfe6e9fa95ddeba0ef105d8358535b6bd0ce53ff70df","abstract_canon_sha256":"6d2e33fee44111498eaf43d0b5e967d66aec6944673b8b10f4af7e9cd4d4993c"},"schema_version":"1.0"},"canonical_sha256":"d4f3164cd414ead32c1a7006605e7380960014e650bec35cde3d09679d770a31","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:14:55.089243Z","signature_b64":"kDFL8ZuCe6mk3W67irCBV6BmjMbgyQ4FAPzpttIH4HpCs7OLXxpt6PDbY+jrB9qB7pfrBzv36Vq1uDfiljRzCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d4f3164cd414ead32c1a7006605e7380960014e650bec35cde3d09679d770a31","last_reissued_at":"2026-07-05T09:14:55.088756Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:14:55.088756Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2408.04821","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":"2026-07-05T09:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AwnKIRze2qqAcUF+RsY0hBYigsCVBtsZwQTxPAEf4ugwUs35DWxovESID57J4ExDSqQrzS1SmUw0u6TW+QlbAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-18T09:48:50.939984Z"},"content_sha256":"f3e90ccca1dd478d98ec80cff0f7a98dd49b479e33bd9f8beb1484e0b51f6234","schema_version":"1.0","event_id":"sha256:f3e90ccca1dd478d98ec80cff0f7a98dd49b479e33bd9f8beb1484e0b51f6234"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2TZRMTGUCTVNGLA2OADGAXTTQC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"VLM-MPC: Vision Language Foundation Model (VLM)-Guided Model Predictive Controller (MPC) for Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haotian Shi, Jiaxi Liu, Keke Long, Xiaopeng Li","submitted_at":"2024-08-09T02:27:25Z","abstract_excerpt":"Motivated by the emergent reasoning capabilities of Vision Language Models (VLMs) and their potential to improve the comprehensibility of autonomous driving systems, this paper introduces a closed-loop autonomous driving controller called VLM-MPC, which combines the Model Predictive Controller (MPC) with VLM to evaluate how model-based control could enhance VLM decision-making. The proposed VLM-MPC is structured into two asynchronous components: The upper layer VLM generates driving parameters (e.g., desired speed, desired headway) for lower-level control based on front camera images, ego vehi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.04821","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/2408.04821/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":"2026-07-05T09:14:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oGTZEweIwcZeQ0Voqy0VcD67kfzkMFcohzmi5nTK6qn0x2Kp9QQ9OsVTEInL1modfIDnZ2p8fBrj1Lxd/+waDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-18T09:48:50.940370Z"},"content_sha256":"d80dd2a8c1c152d4e023c6dcdfbd29d1dd21b54669a13c68f002564e9f44e70f","schema_version":"1.0","event_id":"sha256:d80dd2a8c1c152d4e023c6dcdfbd29d1dd21b54669a13c68f002564e9f44e70f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/bundle.json","state_url":"https://pith.science/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/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":"2026-07-18T09:48:50Z","links":{"resolver":"https://pith.science/pith/2TZRMTGUCTVNGLA2OADGAXTTQC","bundle":"https://pith.science/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/bundle.json","state":"https://pith.science/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2TZRMTGUCTVNGLA2OADGAXTTQC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2TZRMTGUCTVNGLA2OADGAXTTQC","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":"6d2e33fee44111498eaf43d0b5e967d66aec6944673b8b10f4af7e9cd4d4993c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-09T02:27:25Z","title_canon_sha256":"4bd01a1ec357519561debfe6e9fa95ddeba0ef105d8358535b6bd0ce53ff70df"},"schema_version":"1.0","source":{"id":"2408.04821","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.04821","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"arxiv_version","alias_value":"2408.04821v2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.04821","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_12","alias_value":"2TZRMTGUCTVN","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_16","alias_value":"2TZRMTGUCTVNGLA2","created_at":"2026-07-05T09:14:55Z"},{"alias_kind":"pith_short_8","alias_value":"2TZRMTGU","created_at":"2026-07-05T09:14:55Z"}],"graph_snapshots":[{"event_id":"sha256:d80dd2a8c1c152d4e023c6dcdfbd29d1dd21b54669a13c68f002564e9f44e70f","target":"graph","created_at":"2026-07-05T09:14:55Z","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/2408.04821/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motivated by the emergent reasoning capabilities of Vision Language Models (VLMs) and their potential to improve the comprehensibility of autonomous driving systems, this paper introduces a closed-loop autonomous driving controller called VLM-MPC, which combines the Model Predictive Controller (MPC) with VLM to evaluate how model-based control could enhance VLM decision-making. The proposed VLM-MPC is structured into two asynchronous components: The upper layer VLM generates driving parameters (e.g., desired speed, desired headway) for lower-level control based on front camera images, ego vehi","authors_text":"Haotian Shi, Jiaxi Liu, Keke Long, Xiaopeng Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-09T02:27:25Z","title":"VLM-MPC: Vision Language Foundation Model (VLM)-Guided Model Predictive Controller (MPC) for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.04821","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:f3e90ccca1dd478d98ec80cff0f7a98dd49b479e33bd9f8beb1484e0b51f6234","target":"record","created_at":"2026-07-05T09:14:55Z","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":"6d2e33fee44111498eaf43d0b5e967d66aec6944673b8b10f4af7e9cd4d4993c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-09T02:27:25Z","title_canon_sha256":"4bd01a1ec357519561debfe6e9fa95ddeba0ef105d8358535b6bd0ce53ff70df"},"schema_version":"1.0","source":{"id":"2408.04821","kind":"arxiv","version":2}},"canonical_sha256":"d4f3164cd414ead32c1a7006605e7380960014e650bec35cde3d09679d770a31","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d4f3164cd414ead32c1a7006605e7380960014e650bec35cde3d09679d770a31","first_computed_at":"2026-07-05T09:14:55.088756Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:14:55.088756Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kDFL8ZuCe6mk3W67irCBV6BmjMbgyQ4FAPzpttIH4HpCs7OLXxpt6PDbY+jrB9qB7pfrBzv36Vq1uDfiljRzCA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:14:55.089243Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.04821","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f3e90ccca1dd478d98ec80cff0f7a98dd49b479e33bd9f8beb1484e0b51f6234","sha256:d80dd2a8c1c152d4e023c6dcdfbd29d1dd21b54669a13c68f002564e9f44e70f"],"state_sha256":"7a35478d3b02d8ad060d681a85fb5ce83223a058885ec4af5d2dd65c0b0252b5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MQ7xdO0jtXxPGyGTn9stZ6IFvsgcHOU+kDf205tzlJzvEwxhcAg9zvZqVAZUv2IsEBKZidw6fKQprV38cWL8Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-18T09:48:50.942597Z","bundle_sha256":"5bfec74fddf17d60dd59e8bb58399e5c3d973dd1b0a7d7a72fcdb105558b3941"}}