{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:4WAEF6IKY2BHI4YCM7HCMQ2NJV","short_pith_number":"pith:4WAEF6IK","canonical_record":{"source":{"id":"2406.15349","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-21T17:59:02Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"2898c1b0ae36586e22be1fe79d5289a84839aa5a5e5d658f97510d9619e29650","abstract_canon_sha256":"c0ac88eeec7816cf0ffc02858a17ea9a133a0f5bf7a5782c927148cf06d2f174"},"schema_version":"1.0"},"canonical_sha256":"e58042f90ac68274730267ce26434d4d7b02bb9c7c0bd146e2083fbac5500a0b","source":{"kind":"arxiv","id":"2406.15349","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.15349","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"arxiv_version","alias_value":"2406.15349v2","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.15349","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_12","alias_value":"4WAEF6IKY2BH","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_16","alias_value":"4WAEF6IKY2BHI4YC","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_8","alias_value":"4WAEF6IK","created_at":"2026-07-05T09:29:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:4WAEF6IKY2BHI4YCM7HCMQ2NJV","target":"record","payload":{"canonical_record":{"source":{"id":"2406.15349","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-21T17:59:02Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"2898c1b0ae36586e22be1fe79d5289a84839aa5a5e5d658f97510d9619e29650","abstract_canon_sha256":"c0ac88eeec7816cf0ffc02858a17ea9a133a0f5bf7a5782c927148cf06d2f174"},"schema_version":"1.0"},"canonical_sha256":"e58042f90ac68274730267ce26434d4d7b02bb9c7c0bd146e2083fbac5500a0b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:29:15.130045Z","signature_b64":"UXSdKHPENR/Z6kiDcO8ZYDp9r0KYbO8YIZOEYMDCDL0Dm1nGaUj12ebKQEk9M5e04qQ+8Uq77jynqUb7Q+bwDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e58042f90ac68274730267ce26434d4d7b02bb9c7c0bd146e2083fbac5500a0b","last_reissued_at":"2026-07-05T09:29:15.129548Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:29:15.129548Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.15349","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:29:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T44T+UIJRLx/ghxpHSg/2c46EupyPDAfrElaeovgReVOiN/K6mTM7Z01LpLc7OUedskhkC7PlJI4O5AazuTwCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T21:12:03.917731Z"},"content_sha256":"47d353803425edd75b47237b8d4b01eb4434522282fc1ef7518c1e0ce4af48e2","schema_version":"1.0","event_id":"sha256:47d353803425edd75b47237b8d4b01eb4434522282fc1ef7518c1e0ce4af48e2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:4WAEF6IKY2BHI4YCM7HCMQ2NJV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.RO"],"primary_cat":"cs.CV","authors_text":"Andreas Geiger, Boris Ivanovic, Daniel Dauner, Hongyang Li, Igor Gilitschenski, Kashyap Chitta, Marcel Hallgarten, Marco Pavone, Tianyu Li, Xinshuo Weng, Zetong Yang, Zhiyu Huang","submitted_at":"2024-06-21T17:59:02Z","abstract_excerpt":"Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On the other, closed-loop evaluation is possible in simulation, but is hard to scale due to its significant computational demands. Further, the simulators available today exhibit a large domain gap to real data. This has resulted in an inability to draw clear conclusions from the rapidly growing body of research on end-to-end autonomous driving. In this paper, we present NAVSIM, a middle ground between these evaluation pa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.15349","kind":"arxiv","version":2},"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/2406.15349/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":"2026-07-05T09:29:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QyzzOjAlIVuhtye99fpONCgZo9XTigVUD07dLecFjsOv+0E23JW6LCoae6uu++2B86iFePNRM0Dt1KYWfK1sBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T21:12:03.918557Z"},"content_sha256":"595ae3bf931862bdbb8e7bb6fbe51909b51794d959b8fc6b9ca0b408a2e097c5","schema_version":"1.0","event_id":"sha256:595ae3bf931862bdbb8e7bb6fbe51909b51794d959b8fc6b9ca0b408a2e097c5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/bundle.json","state_url":"https://pith.science/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/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":"2026-08-03T21:12:03Z","links":{"resolver":"https://pith.science/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV","bundle":"https://pith.science/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/bundle.json","state":"https://pith.science/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4WAEF6IKY2BHI4YCM7HCMQ2NJV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4WAEF6IKY2BHI4YCM7HCMQ2NJV","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":"c0ac88eeec7816cf0ffc02858a17ea9a133a0f5bf7a5782c927148cf06d2f174","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-21T17:59:02Z","title_canon_sha256":"2898c1b0ae36586e22be1fe79d5289a84839aa5a5e5d658f97510d9619e29650"},"schema_version":"1.0","source":{"id":"2406.15349","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.15349","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"arxiv_version","alias_value":"2406.15349v2","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.15349","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_12","alias_value":"4WAEF6IKY2BH","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_16","alias_value":"4WAEF6IKY2BHI4YC","created_at":"2026-07-05T09:29:15Z"},{"alias_kind":"pith_short_8","alias_value":"4WAEF6IK","created_at":"2026-07-05T09:29:15Z"}],"graph_snapshots":[{"event_id":"sha256:595ae3bf931862bdbb8e7bb6fbe51909b51794d959b8fc6b9ca0b408a2e097c5","target":"graph","created_at":"2026-07-05T09:29:15Z","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/2406.15349/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On the other, closed-loop evaluation is possible in simulation, but is hard to scale due to its significant computational demands. Further, the simulators available today exhibit a large domain gap to real data. This has resulted in an inability to draw clear conclusions from the rapidly growing body of research on end-to-end autonomous driving. In this paper, we present NAVSIM, a middle ground between these evaluation pa","authors_text":"Andreas Geiger, Boris Ivanovic, Daniel Dauner, Hongyang Li, Igor Gilitschenski, Kashyap Chitta, Marcel Hallgarten, Marco Pavone, Tianyu Li, Xinshuo Weng, Zetong Yang, Zhiyu Huang","cross_cats":["cs.AI","cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-21T17:59:02Z","title":"NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.15349","kind":"arxiv","version":2},"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":"sha256:47d353803425edd75b47237b8d4b01eb4434522282fc1ef7518c1e0ce4af48e2","target":"record","created_at":"2026-07-05T09:29:15Z","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":"c0ac88eeec7816cf0ffc02858a17ea9a133a0f5bf7a5782c927148cf06d2f174","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-21T17:59:02Z","title_canon_sha256":"2898c1b0ae36586e22be1fe79d5289a84839aa5a5e5d658f97510d9619e29650"},"schema_version":"1.0","source":{"id":"2406.15349","kind":"arxiv","version":2}},"canonical_sha256":"e58042f90ac68274730267ce26434d4d7b02bb9c7c0bd146e2083fbac5500a0b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e58042f90ac68274730267ce26434d4d7b02bb9c7c0bd146e2083fbac5500a0b","first_computed_at":"2026-07-05T09:29:15.129548Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:29:15.129548Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UXSdKHPENR/Z6kiDcO8ZYDp9r0KYbO8YIZOEYMDCDL0Dm1nGaUj12ebKQEk9M5e04qQ+8Uq77jynqUb7Q+bwDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:29:15.130045Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.15349","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:47d353803425edd75b47237b8d4b01eb4434522282fc1ef7518c1e0ce4af48e2","sha256:595ae3bf931862bdbb8e7bb6fbe51909b51794d959b8fc6b9ca0b408a2e097c5"],"state_sha256":"a429c6e22a6e714c3bae4052e25398677c8184b1f1f046c84cdac06ea3a81b63"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HVgQchFV5+RYkb9dS5DqkX1/P0UHpmikLXP1aZjMOYZOsAE6oIs5IW82c0ddFp+Mc6xy7DE3Hs4TC8ItGV0DCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T21:12:03.922589Z","bundle_sha256":"ed8dd5d11e92e0a2618d370958f345c01bc28deb34a3fc069a77d1f49bde4fd6"}}