{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:4DJC5OE654BFY5A7KDSYNDW4MQ","short_pith_number":"pith:4DJC5OE6","canonical_record":{"source":{"id":"2108.11420","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-25T18:24:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"58efa309336d02338b866bbf9c6b9c56be0fd3d8b26f4707242015e47e096b93","abstract_canon_sha256":"5422539804a352b7d7f13682890995cd9c0cf964c01652e934857cc0547487c1"},"schema_version":"1.0"},"canonical_sha256":"e0d22eb89eef025c741f50e5868edc640744167e6c3564291080a965d6fb2aae","source":{"kind":"arxiv","id":"2108.11420","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.11420","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"arxiv_version","alias_value":"2108.11420v1","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.11420","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_12","alias_value":"4DJC5OE654BF","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_16","alias_value":"4DJC5OE654BFY5A7","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_8","alias_value":"4DJC5OE6","created_at":"2026-07-05T03:08:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:4DJC5OE654BFY5A7KDSYNDW4MQ","target":"record","payload":{"canonical_record":{"source":{"id":"2108.11420","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-25T18:24:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"58efa309336d02338b866bbf9c6b9c56be0fd3d8b26f4707242015e47e096b93","abstract_canon_sha256":"5422539804a352b7d7f13682890995cd9c0cf964c01652e934857cc0547487c1"},"schema_version":"1.0"},"canonical_sha256":"e0d22eb89eef025c741f50e5868edc640744167e6c3564291080a965d6fb2aae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:08:57.090567Z","signature_b64":"fVBKc/1usvP3tWv5MhiPnDOYExJO2W6D1RubxtaMrrMNnV2ZHlDhPWCDGiO0YZ5vIwSdNr3AWWhgWobd78xeDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e0d22eb89eef025c741f50e5868edc640744167e6c3564291080a965d6fb2aae","last_reissued_at":"2026-07-05T03:08:57.090163Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:08:57.090163Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.11420","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":"2026-07-05T03:08:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"epKwCObYqn79u/gFxi7yfQ6fOQiUBAwboS8TqCU54IaE6FybgBWnhqeOBsbjPvlML0rDYOZjp9hyMLZLdNudBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T23:01:21.654947Z"},"content_sha256":"f67c48cbf3dc98c05c87ff576de7a39c1ce780e70ab3f91ed2f6c5b47b1054b4","schema_version":"1.0","event_id":"sha256:f67c48cbf3dc98c05c87ff576de7a39c1ce780e70ab3f91ed2f6c5b47b1054b4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:4DJC5OE654BFY5A7KDSYNDW4MQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Model-based Decision Making with Imagination for Autonomous Parking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Nanning Zheng, Shitao Chen, Yu Chen, Ziyue Feng","submitted_at":"2021-08-25T18:24:34Z","abstract_excerpt":"Autonomous parking technology is a key concept within autonomous driving research. This paper will propose an imaginative autonomous parking algorithm to solve issues concerned with parking. The proposed algorithm consists of three parts: an imaginative model for anticipating results before parking, an improved rapid-exploring random tree (RRT) for planning a feasible trajectory from a given start point to a parking lot, and a path smoothing module for optimizing the efficiency of parking tasks. Our algorithm is based on a real kinematic vehicle model; which makes it more suitable for algorith"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.11420","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/2108.11420/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":"2026-07-05T03:08:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cPaM39AxbqLCyTbcBBiuVHLJZJ61zbd8o1CmH20ksPc8NgOU2eFt7gqXL3S62VuGBiOY0ozuamaA2fhdeKiAAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T23:01:21.655771Z"},"content_sha256":"2618bee56f021768bd906fa375fc4e2fb15dd9cc3cd94a2b8fa1910106ab0bfc","schema_version":"1.0","event_id":"sha256:2618bee56f021768bd906fa375fc4e2fb15dd9cc3cd94a2b8fa1910106ab0bfc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/bundle.json","state_url":"https://pith.science/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/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":"2026-08-23T23:01:21Z","links":{"resolver":"https://pith.science/pith/4DJC5OE654BFY5A7KDSYNDW4MQ","bundle":"https://pith.science/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/bundle.json","state":"https://pith.science/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4DJC5OE654BFY5A7KDSYNDW4MQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:4DJC5OE654BFY5A7KDSYNDW4MQ","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":"5422539804a352b7d7f13682890995cd9c0cf964c01652e934857cc0547487c1","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-25T18:24:34Z","title_canon_sha256":"58efa309336d02338b866bbf9c6b9c56be0fd3d8b26f4707242015e47e096b93"},"schema_version":"1.0","source":{"id":"2108.11420","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.11420","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"arxiv_version","alias_value":"2108.11420v1","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.11420","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_12","alias_value":"4DJC5OE654BF","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_16","alias_value":"4DJC5OE654BFY5A7","created_at":"2026-07-05T03:08:57Z"},{"alias_kind":"pith_short_8","alias_value":"4DJC5OE6","created_at":"2026-07-05T03:08:57Z"}],"graph_snapshots":[{"event_id":"sha256:2618bee56f021768bd906fa375fc4e2fb15dd9cc3cd94a2b8fa1910106ab0bfc","target":"graph","created_at":"2026-07-05T03:08:57Z","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/2108.11420/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous parking technology is a key concept within autonomous driving research. This paper will propose an imaginative autonomous parking algorithm to solve issues concerned with parking. The proposed algorithm consists of three parts: an imaginative model for anticipating results before parking, an improved rapid-exploring random tree (RRT) for planning a feasible trajectory from a given start point to a parking lot, and a path smoothing module for optimizing the efficiency of parking tasks. Our algorithm is based on a real kinematic vehicle model; which makes it more suitable for algorith","authors_text":"Nanning Zheng, Shitao Chen, Yu Chen, Ziyue Feng","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-25T18:24:34Z","title":"Model-based Decision Making with Imagination for Autonomous Parking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.11420","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:f67c48cbf3dc98c05c87ff576de7a39c1ce780e70ab3f91ed2f6c5b47b1054b4","target":"record","created_at":"2026-07-05T03:08:57Z","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":"5422539804a352b7d7f13682890995cd9c0cf964c01652e934857cc0547487c1","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-25T18:24:34Z","title_canon_sha256":"58efa309336d02338b866bbf9c6b9c56be0fd3d8b26f4707242015e47e096b93"},"schema_version":"1.0","source":{"id":"2108.11420","kind":"arxiv","version":1}},"canonical_sha256":"e0d22eb89eef025c741f50e5868edc640744167e6c3564291080a965d6fb2aae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e0d22eb89eef025c741f50e5868edc640744167e6c3564291080a965d6fb2aae","first_computed_at":"2026-07-05T03:08:57.090163Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:08:57.090163Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fVBKc/1usvP3tWv5MhiPnDOYExJO2W6D1RubxtaMrrMNnV2ZHlDhPWCDGiO0YZ5vIwSdNr3AWWhgWobd78xeDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:08:57.090567Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.11420","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f67c48cbf3dc98c05c87ff576de7a39c1ce780e70ab3f91ed2f6c5b47b1054b4","sha256:2618bee56f021768bd906fa375fc4e2fb15dd9cc3cd94a2b8fa1910106ab0bfc"],"state_sha256":"21e953d71a66369ed878c36738af1ba00f74b1023dd27e721c4759f587adc1e1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wzMzS2mxm74qvY2eR5cO50uUNhKFzyV4IccYgOZAR1eWK0lPzhHUsMyEXqBQ05Sz7oErUxSkURxk2Vq4fAqvAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T23:01:21.663442Z","bundle_sha256":"3e553586243c54249dc95202f26b60be5ac7ee42694612000de021a60d6eb895"}}