{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:3FWQTXBV3KGHBUODNAEGMVW6PL","short_pith_number":"pith:3FWQTXBV","canonical_record":{"source":{"id":"2112.07624","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-12-14T18:11:17Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"b2b2add9a9c4b7e818a18419fad7b0a9e0a98c9642e2b523b58c8dac0bd24316","abstract_canon_sha256":"916a65c7861947d559e23a4e62373c68199d8ce8162665a6cb6fb1891affa534"},"schema_version":"1.0"},"canonical_sha256":"d96d09dc35da8c70d1c368086656de7adf055ea839d55813246411e2a2ccb464","source":{"kind":"arxiv","id":"2112.07624","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.07624","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"arxiv_version","alias_value":"2112.07624v1","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.07624","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_12","alias_value":"3FWQTXBV3KGH","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_16","alias_value":"3FWQTXBV3KGHBUOD","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_8","alias_value":"3FWQTXBV","created_at":"2026-07-05T03:41:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:3FWQTXBV3KGHBUODNAEGMVW6PL","target":"record","payload":{"canonical_record":{"source":{"id":"2112.07624","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-12-14T18:11:17Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"b2b2add9a9c4b7e818a18419fad7b0a9e0a98c9642e2b523b58c8dac0bd24316","abstract_canon_sha256":"916a65c7861947d559e23a4e62373c68199d8ce8162665a6cb6fb1891affa534"},"schema_version":"1.0"},"canonical_sha256":"d96d09dc35da8c70d1c368086656de7adf055ea839d55813246411e2a2ccb464","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:41:00.160727Z","signature_b64":"UoCLAA+aeq/A9/mq4fOE7n7UE/LhXoZPS9Nih1cu/9nzBPUWoCAdiPD3wQ/+yqAD996JUq2fCcIWUJIK8UIeBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d96d09dc35da8c70d1c368086656de7adf055ea839d55813246411e2a2ccb464","last_reissued_at":"2026-07-05T03:41:00.160310Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:41:00.160310Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.07624","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":"2026-07-05T03:41:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rbV44Pst6ns3A7ozh7jl+aesfhLnAgPxUt9wufr/xkgHueWyGg63jrS5M/JMk9yTLKiqjZFJurpEtPb1owjUCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:04:25.018197Z"},"content_sha256":"c83b8f03904395339fbfc9477d4931de8b5b2eee173d887736db7cb829328755","schema_version":"1.0","event_id":"sha256:c83b8f03904395339fbfc9477d4931de8b5b2eee173d887736db7cb829328755"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:3FWQTXBV3KGHBUODNAEGMVW6PL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Anouck Girard, H. Eric Tseng, Ilya Kolmanovsky, Kaiwen Liu, Nan Li","submitted_at":"2021-12-14T18:11:17Z","abstract_excerpt":"Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a gap and safely merge into. In this paper, we consider the problem of autonomous vehicle control for forced merge scenarios. We propose a novel game-theoretic controller, called the Leader-Follower Game Controller (LFGC), in which the interactions between the autonomous ego vehicle and other vehicles with a priori uncertain driving intentions is modeled as a partially observable"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.07624","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/2112.07624/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":"2026-07-05T03:41:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M4gD/kHIZXvWn6nAA/oh2LXVm6XVfEI1wZiRWilIyiDz3l/4jy8ph4vYkaDvrPt5ptB7V+Z7N4rNppJ92Y6EBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:04:25.018737Z"},"content_sha256":"cf50abfccc38ee95aa7cb4a18f659837557bfb05f9c5bdbc564c43fcae5eb709","schema_version":"1.0","event_id":"sha256:cf50abfccc38ee95aa7cb4a18f659837557bfb05f9c5bdbc564c43fcae5eb709"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/bundle.json","state_url":"https://pith.science/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/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":"2026-08-06T08:04:25Z","links":{"resolver":"https://pith.science/pith/3FWQTXBV3KGHBUODNAEGMVW6PL","bundle":"https://pith.science/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/bundle.json","state":"https://pith.science/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3FWQTXBV3KGHBUODNAEGMVW6PL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:3FWQTXBV3KGHBUODNAEGMVW6PL","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":"916a65c7861947d559e23a4e62373c68199d8ce8162665a6cb6fb1891affa534","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-12-14T18:11:17Z","title_canon_sha256":"b2b2add9a9c4b7e818a18419fad7b0a9e0a98c9642e2b523b58c8dac0bd24316"},"schema_version":"1.0","source":{"id":"2112.07624","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.07624","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"arxiv_version","alias_value":"2112.07624v1","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.07624","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_12","alias_value":"3FWQTXBV3KGH","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_16","alias_value":"3FWQTXBV3KGHBUOD","created_at":"2026-07-05T03:41:00Z"},{"alias_kind":"pith_short_8","alias_value":"3FWQTXBV","created_at":"2026-07-05T03:41:00Z"}],"graph_snapshots":[{"event_id":"sha256:cf50abfccc38ee95aa7cb4a18f659837557bfb05f9c5bdbc564c43fcae5eb709","target":"graph","created_at":"2026-07-05T03:41:00Z","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/2112.07624/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a gap and safely merge into. In this paper, we consider the problem of autonomous vehicle control for forced merge scenarios. We propose a novel game-theoretic controller, called the Leader-Follower Game Controller (LFGC), in which the interactions between the autonomous ego vehicle and other vehicles with a priori uncertain driving intentions is modeled as a partially observable","authors_text":"Anouck Girard, H. Eric Tseng, Ilya Kolmanovsky, Kaiwen Liu, Nan Li","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-12-14T18:11:17Z","title":"Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.07624","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:c83b8f03904395339fbfc9477d4931de8b5b2eee173d887736db7cb829328755","target":"record","created_at":"2026-07-05T03:41:00Z","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":"916a65c7861947d559e23a4e62373c68199d8ce8162665a6cb6fb1891affa534","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-12-14T18:11:17Z","title_canon_sha256":"b2b2add9a9c4b7e818a18419fad7b0a9e0a98c9642e2b523b58c8dac0bd24316"},"schema_version":"1.0","source":{"id":"2112.07624","kind":"arxiv","version":1}},"canonical_sha256":"d96d09dc35da8c70d1c368086656de7adf055ea839d55813246411e2a2ccb464","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d96d09dc35da8c70d1c368086656de7adf055ea839d55813246411e2a2ccb464","first_computed_at":"2026-07-05T03:41:00.160310Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:41:00.160310Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UoCLAA+aeq/A9/mq4fOE7n7UE/LhXoZPS9Nih1cu/9nzBPUWoCAdiPD3wQ/+yqAD996JUq2fCcIWUJIK8UIeBw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:41:00.160727Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.07624","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c83b8f03904395339fbfc9477d4931de8b5b2eee173d887736db7cb829328755","sha256:cf50abfccc38ee95aa7cb4a18f659837557bfb05f9c5bdbc564c43fcae5eb709"],"state_sha256":"06f11b2521da3e2b478868a77e5088c5862b0e1e9e39cc86aae2ae86662ae156"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+LQbhd7fw3k/jxEcD06GfR9PoB4LC0k+Ryz8diXSpefXB9n456Ley5VDB9Sy4FpCtpumJ3G3TLfsazAbhgyYAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T08:04:25.025305Z","bundle_sha256":"c49c8dc509f472a614d536009c312fe3b84584f7745a074807e3a3455f3351e1"}}