{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:4W3FIUGXUGFQMNEQK6DDLPWONY","short_pith_number":"pith:4W3FIUGX","canonical_record":{"source":{"id":"2312.06848","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-12-11T21:22:10Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"c71812ddb7a117f28c1aee4e31245bf315ef0531e5a247bad6bfa1ca6b41cf9b","abstract_canon_sha256":"17c7b482c3a39295368736ce98208dc4ccb0f8f2c5bde45dada2851ef55fb6df"},"schema_version":"1.0"},"canonical_sha256":"e5b65450d7a18b063490578635bece6e15fd7f13581ccb65dd6dbcd2a05072d7","source":{"kind":"arxiv","id":"2312.06848","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.06848","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"arxiv_version","alias_value":"2312.06848v1","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.06848","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_12","alias_value":"4W3FIUGXUGFQ","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_16","alias_value":"4W3FIUGXUGFQMNEQ","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_8","alias_value":"4W3FIUGX","created_at":"2026-07-05T07:22:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:4W3FIUGXUGFQMNEQK6DDLPWONY","target":"record","payload":{"canonical_record":{"source":{"id":"2312.06848","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-12-11T21:22:10Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"c71812ddb7a117f28c1aee4e31245bf315ef0531e5a247bad6bfa1ca6b41cf9b","abstract_canon_sha256":"17c7b482c3a39295368736ce98208dc4ccb0f8f2c5bde45dada2851ef55fb6df"},"schema_version":"1.0"},"canonical_sha256":"e5b65450d7a18b063490578635bece6e15fd7f13581ccb65dd6dbcd2a05072d7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:22:54.088454Z","signature_b64":"psrRJIeX76xrDwl/DRRLm0iOa8xHa4hwK0VGCC3dILxO0ZKkffq0F/3kkgfn52hkXKASiSdc+0BjkWzwgX8AAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5b65450d7a18b063490578635bece6e15fd7f13581ccb65dd6dbcd2a05072d7","last_reissued_at":"2026-07-05T07:22:54.087971Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:22:54.087971Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.06848","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":"2026-07-05T07:22:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zis159YoP79IX1w2bK5dEhEvad5WZzdZpT5gKhm87l4z+ZNo4O8QU21+8Gyn9l4EwK9UBrGbq+YCQkAOheOACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:44:24.059063Z"},"content_sha256":"bb32b2658564576f041dfc3425bea37231c20f0c0b5c76f880c7d734187a7c82","schema_version":"1.0","event_id":"sha256:bb32b2658564576f041dfc3425bea37231c20f0c0b5c76f880c7d734187a7c82"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:4W3FIUGXUGFQMNEQK6DDLPWONY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Data-Driven Modeling and Verification of Perception-Based Autonomous Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Alexander Robey, George J. Pappas, Hassani Hamed, Radoslav Ivanov, Thomas Waite","submitted_at":"2023-12-11T21:22:10Z","abstract_excerpt":"This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a noise model that contains the measurement noise introduced by the real environment. We focus on two types of noise, benign and adversarial noise, and develop a data-driven model for each type using generative models and classifiers, respectively. We show that the trained models perform well according to a variety of evaluation metrics based on downstream tas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.06848","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/2312.06848/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":"2026-07-05T07:22:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mM1HO5EKlangv7hcoL7UWnkz/NXTt14ReA1n/pEFl86/Xbno2wD0C2mD2Y2VvVe6Gw6xHH1sPoJVKb/30dr7DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:44:24.059608Z"},"content_sha256":"b21ab4518d7933fc568a0e62ef8a297a341ac3f15de385d4f46f158e0edf16b8","schema_version":"1.0","event_id":"sha256:b21ab4518d7933fc568a0e62ef8a297a341ac3f15de385d4f46f158e0edf16b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/bundle.json","state_url":"https://pith.science/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/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":"2026-08-05T19:44:24Z","links":{"resolver":"https://pith.science/pith/4W3FIUGXUGFQMNEQK6DDLPWONY","bundle":"https://pith.science/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/bundle.json","state":"https://pith.science/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4W3FIUGXUGFQMNEQK6DDLPWONY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:4W3FIUGXUGFQMNEQK6DDLPWONY","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":"17c7b482c3a39295368736ce98208dc4ccb0f8f2c5bde45dada2851ef55fb6df","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-12-11T21:22:10Z","title_canon_sha256":"c71812ddb7a117f28c1aee4e31245bf315ef0531e5a247bad6bfa1ca6b41cf9b"},"schema_version":"1.0","source":{"id":"2312.06848","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.06848","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"arxiv_version","alias_value":"2312.06848v1","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.06848","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_12","alias_value":"4W3FIUGXUGFQ","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_16","alias_value":"4W3FIUGXUGFQMNEQ","created_at":"2026-07-05T07:22:54Z"},{"alias_kind":"pith_short_8","alias_value":"4W3FIUGX","created_at":"2026-07-05T07:22:54Z"}],"graph_snapshots":[{"event_id":"sha256:b21ab4518d7933fc568a0e62ef8a297a341ac3f15de385d4f46f158e0edf16b8","target":"graph","created_at":"2026-07-05T07:22:54Z","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/2312.06848/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a noise model that contains the measurement noise introduced by the real environment. We focus on two types of noise, benign and adversarial noise, and develop a data-driven model for each type using generative models and classifiers, respectively. We show that the trained models perform well according to a variety of evaluation metrics based on downstream tas","authors_text":"Alexander Robey, George J. Pappas, Hassani Hamed, Radoslav Ivanov, Thomas Waite","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-12-11T21:22:10Z","title":"Data-Driven Modeling and Verification of Perception-Based Autonomous Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.06848","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:bb32b2658564576f041dfc3425bea37231c20f0c0b5c76f880c7d734187a7c82","target":"record","created_at":"2026-07-05T07:22:54Z","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":"17c7b482c3a39295368736ce98208dc4ccb0f8f2c5bde45dada2851ef55fb6df","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-12-11T21:22:10Z","title_canon_sha256":"c71812ddb7a117f28c1aee4e31245bf315ef0531e5a247bad6bfa1ca6b41cf9b"},"schema_version":"1.0","source":{"id":"2312.06848","kind":"arxiv","version":1}},"canonical_sha256":"e5b65450d7a18b063490578635bece6e15fd7f13581ccb65dd6dbcd2a05072d7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e5b65450d7a18b063490578635bece6e15fd7f13581ccb65dd6dbcd2a05072d7","first_computed_at":"2026-07-05T07:22:54.087971Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:22:54.087971Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"psrRJIeX76xrDwl/DRRLm0iOa8xHa4hwK0VGCC3dILxO0ZKkffq0F/3kkgfn52hkXKASiSdc+0BjkWzwgX8AAA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:22:54.088454Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.06848","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bb32b2658564576f041dfc3425bea37231c20f0c0b5c76f880c7d734187a7c82","sha256:b21ab4518d7933fc568a0e62ef8a297a341ac3f15de385d4f46f158e0edf16b8"],"state_sha256":"f4c57facd3c0b8d00a6f0631a8250c54927aeeedc989d2eba6929bf23c1982b9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u/m7JZE65x9bDAURG3Op240cCXhHHY0nVq2Bu1fTiHuU/9o8XtRb4gc4pNWvOn6QQY2LSPNBCEnsKTbXIKsJAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T19:44:24.065988Z","bundle_sha256":"a18d16f7ba291ffbf1391b67fb3de8ae58ca89a81d07f55a43a2ee96a4d07d7e"}}