{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:4CM3BMOC75FYDCWSS2CWLOAOEC","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":"0bfcd5191ae20b08958314fba76d1ff461ebf074135b2280a4e9b448cd217e21","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T21:03:39Z","title_canon_sha256":"d26b2518ecb90282ed38503b95cf6e8b95a9bdd54b4c450d11a19269fb8a2606"},"schema_version":"1.0","source":{"id":"2110.00650","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.00650","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"arxiv_version","alias_value":"2110.00650v1","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.00650","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_12","alias_value":"4CM3BMOC75FY","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_16","alias_value":"4CM3BMOC75FYDCWS","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_8","alias_value":"4CM3BMOC","created_at":"2026-07-05T03:19:32Z"}],"graph_snapshots":[{"event_id":"sha256:663328859ff38eb38a55ebd5c3a9b8e45e4e9409f4d2c55c6fdbea2f4f284bf6","target":"graph","created_at":"2026-07-05T03:19:32Z","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/2110.00650/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Competent multi-lane cruising requires using lane changes and within-lane maneuvers to achieve good speed and maintain safety. This paper proposes a design for autonomous multi-lane cruising by combining a hierarchical reinforcement learning framework with a novel state-action space abstraction. While the proposed solution follows the classical hierarchy of behavior decision, motion planning and control, it introduces a key intermediate abstraction within the motion planner to discretize the state-action space according to high level behavioral decisions. We argue that this design allows princ","authors_text":"Elmira Amirloo Abolfathi, Jun Luo, Kasra Rezaee, Masoud S. Nosrati, Mohammed Elmahgiubi, Peyman Yadmellat","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T21:03:39Z","title":"Multi-lane Cruising Using Hierarchical Planning and Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.00650","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":"sha256:12328448f8c07cc6df0bd93374eb375a0dd1dd7918dbfb4a461018deb8abc137","target":"record","created_at":"2026-07-05T03:19:32Z","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":"0bfcd5191ae20b08958314fba76d1ff461ebf074135b2280a4e9b448cd217e21","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T21:03:39Z","title_canon_sha256":"d26b2518ecb90282ed38503b95cf6e8b95a9bdd54b4c450d11a19269fb8a2606"},"schema_version":"1.0","source":{"id":"2110.00650","kind":"arxiv","version":1}},"canonical_sha256":"e099b0b1c2ff4b818ad2968565b80e20aecbbb915f678262038d3bab008cf470","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e099b0b1c2ff4b818ad2968565b80e20aecbbb915f678262038d3bab008cf470","first_computed_at":"2026-07-05T03:19:32.296363Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:19:32.296363Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ExvijyiHCWc0vJpk5WgR0xg00J9R5Ic0Sk/o1T9RBlqZTOxtitdTNGEksRJNLN9D6J2Ls1HZrQvtLaeuY0GSCA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:19:32.296716Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.00650","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12328448f8c07cc6df0bd93374eb375a0dd1dd7918dbfb4a461018deb8abc137","sha256:663328859ff38eb38a55ebd5c3a9b8e45e4e9409f4d2c55c6fdbea2f4f284bf6"],"state_sha256":"75e605a382bea8dd5b9390aade550d030d976732892a88ad36276aecd0a27df2"}