{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4FVUQVJGRIZUUU6FWHG4RVZH5V","short_pith_number":"pith:4FVUQVJG","canonical_record":{"source":{"id":"2206.01488","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T10:37:25Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a7f3325c6c9575833d0127e14fe7c6913ae83313d068e6744d48209f4df02292","abstract_canon_sha256":"d548494c717fa8fd6d265cb302cdd85602291ecd397b82ac05d45a55197dc95d"},"schema_version":"1.0"},"canonical_sha256":"e16b4855268a334a53c5b1cdc8d727ed432a529cf1fd0e8fbe81a1a65a54efed","source":{"kind":"arxiv","id":"2206.01488","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.01488","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"arxiv_version","alias_value":"2206.01488v3","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.01488","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_12","alias_value":"4FVUQVJGRIZU","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_16","alias_value":"4FVUQVJGRIZUUU6F","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_8","alias_value":"4FVUQVJG","created_at":"2026-07-05T05:23:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4FVUQVJGRIZUUU6FWHG4RVZH5V","target":"record","payload":{"canonical_record":{"source":{"id":"2206.01488","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T10:37:25Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a7f3325c6c9575833d0127e14fe7c6913ae83313d068e6744d48209f4df02292","abstract_canon_sha256":"d548494c717fa8fd6d265cb302cdd85602291ecd397b82ac05d45a55197dc95d"},"schema_version":"1.0"},"canonical_sha256":"e16b4855268a334a53c5b1cdc8d727ed432a529cf1fd0e8fbe81a1a65a54efed","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:23:45.511662Z","signature_b64":"c+7jUx2rmQOjlXxU/2uPDVN5b1fDfAnP3gqgIbQxGZp1TzXyj2EyGYXYHSTywTsicoUy9TWqRVNHSC/46gEFBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e16b4855268a334a53c5b1cdc8d727ed432a529cf1fd0e8fbe81a1a65a54efed","last_reissued_at":"2026-07-05T05:23:45.511171Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:23:45.511171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.01488","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:23:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hNMm7embmfSy6zAtVNC9P7XqZfe9rx+wNBzURpppoqCK1sga5MeK9C8ElQbViY449gDqDDdWOn/wuWiVTqfvDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:11:24.284041Z"},"content_sha256":"ed1f788b31428780543b9d4205733c10eb9be5c286380f8aaf162a42a563dcae","schema_version":"1.0","event_id":"sha256:ed1f788b31428780543b9d4205733c10eb9be5c286380f8aaf162a42a563dcae"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4FVUQVJGRIZUUU6FWHG4RVZH5V","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Chan Kim, Jin-Woo Choi, Seong-Woo Kim, Seung-Woo Seo, Se-Wook Yoo","submitted_at":"2022-06-03T10:37:25Z","abstract_excerpt":"Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing intentions of surrounding vehicles. This paper proposes a new policy optimization method for safe driving using graph-based interaction-aware constraints. In this framework, the motion prediction and control modules are trained simultaneously while sharing a latent representation that contains a social context. To reflect social interactions, we illustrate th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.01488","kind":"arxiv","version":3},"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/2206.01488/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":"2026-07-05T05:23:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6DqCTJg0figIlsUWvet5rxlmPebeNueaDmSN5SnMgqB2n9Bn6UTn2UvJbnUP2MWqyyRFVpwviuPagVocCgYXCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:11:24.284562Z"},"content_sha256":"e5b98e6449b2a3fdeaad6bcd0ab7b8d4b204e33bcc30262b63ea52e0286cbbff","schema_version":"1.0","event_id":"sha256:e5b98e6449b2a3fdeaad6bcd0ab7b8d4b204e33bcc30262b63ea52e0286cbbff"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/bundle.json","state_url":"https://pith.science/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/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":"2026-08-01T05:11:24Z","links":{"resolver":"https://pith.science/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V","bundle":"https://pith.science/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/bundle.json","state":"https://pith.science/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4FVUQVJGRIZUUU6FWHG4RVZH5V/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4FVUQVJGRIZUUU6FWHG4RVZH5V","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":"d548494c717fa8fd6d265cb302cdd85602291ecd397b82ac05d45a55197dc95d","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T10:37:25Z","title_canon_sha256":"a7f3325c6c9575833d0127e14fe7c6913ae83313d068e6744d48209f4df02292"},"schema_version":"1.0","source":{"id":"2206.01488","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.01488","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"arxiv_version","alias_value":"2206.01488v3","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.01488","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_12","alias_value":"4FVUQVJGRIZU","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_16","alias_value":"4FVUQVJGRIZUUU6F","created_at":"2026-07-05T05:23:45Z"},{"alias_kind":"pith_short_8","alias_value":"4FVUQVJG","created_at":"2026-07-05T05:23:45Z"}],"graph_snapshots":[{"event_id":"sha256:e5b98e6449b2a3fdeaad6bcd0ab7b8d4b204e33bcc30262b63ea52e0286cbbff","target":"graph","created_at":"2026-07-05T05:23:45Z","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/2206.01488/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing intentions of surrounding vehicles. This paper proposes a new policy optimization method for safe driving using graph-based interaction-aware constraints. In this framework, the motion prediction and control modules are trained simultaneously while sharing a latent representation that contains a social context. To reflect social interactions, we illustrate th","authors_text":"Chan Kim, Jin-Woo Choi, Seong-Woo Kim, Seung-Woo Seo, Se-Wook Yoo","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T10:37:25Z","title":"GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.01488","kind":"arxiv","version":3},"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:ed1f788b31428780543b9d4205733c10eb9be5c286380f8aaf162a42a563dcae","target":"record","created_at":"2026-07-05T05:23:45Z","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":"d548494c717fa8fd6d265cb302cdd85602291ecd397b82ac05d45a55197dc95d","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T10:37:25Z","title_canon_sha256":"a7f3325c6c9575833d0127e14fe7c6913ae83313d068e6744d48209f4df02292"},"schema_version":"1.0","source":{"id":"2206.01488","kind":"arxiv","version":3}},"canonical_sha256":"e16b4855268a334a53c5b1cdc8d727ed432a529cf1fd0e8fbe81a1a65a54efed","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e16b4855268a334a53c5b1cdc8d727ed432a529cf1fd0e8fbe81a1a65a54efed","first_computed_at":"2026-07-05T05:23:45.511171Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:23:45.511171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"c+7jUx2rmQOjlXxU/2uPDVN5b1fDfAnP3gqgIbQxGZp1TzXyj2EyGYXYHSTywTsicoUy9TWqRVNHSC/46gEFBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:23:45.511662Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.01488","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed1f788b31428780543b9d4205733c10eb9be5c286380f8aaf162a42a563dcae","sha256:e5b98e6449b2a3fdeaad6bcd0ab7b8d4b204e33bcc30262b63ea52e0286cbbff"],"state_sha256":"0920a78acb0e996f1dacefe28a6cd5ce04a52781e77d2a007099aa64426de7e4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UwnPL1G5USF8hs+03AexBq0xCQJaNs8JKGtrh4Rd78mYGbpwfzSB7swMruDCMRhMyIMYfEKl7m5n7DBR9S2ADg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T05:11:24.289333Z","bundle_sha256":"9bee290f830e3bda114b30e78a8a173875dc075eb6c28646b434285b70410fd3"}}