{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:5CV7HS42WCOQJDO23HIXTU6SUP","short_pith_number":"pith:5CV7HS42","canonical_record":{"source":{"id":"2308.14329","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T06:17:15Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"8d60c27193b466bc1b7b11c58c7aadb95023a739202c2b16855743892b55128a","abstract_canon_sha256":"9dd94a4788bb18581cc9ecf6a06d911dd2f943999d13257467fbfcf2f833352e"},"schema_version":"1.0"},"canonical_sha256":"e8abf3cb9ab09d048ddad9d179d3d2a3d81615110521e4b05830ba85fbe76553","source":{"kind":"arxiv","id":"2308.14329","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.14329","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"arxiv_version","alias_value":"2308.14329v4","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.14329","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_12","alias_value":"5CV7HS42WCOQ","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_16","alias_value":"5CV7HS42WCOQJDO2","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_8","alias_value":"5CV7HS42","created_at":"2026-06-19T16:09:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:5CV7HS42WCOQJDO23HIXTU6SUP","target":"record","payload":{"canonical_record":{"source":{"id":"2308.14329","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T06:17:15Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"8d60c27193b466bc1b7b11c58c7aadb95023a739202c2b16855743892b55128a","abstract_canon_sha256":"9dd94a4788bb18581cc9ecf6a06d911dd2f943999d13257467fbfcf2f833352e"},"schema_version":"1.0"},"canonical_sha256":"e8abf3cb9ab09d048ddad9d179d3d2a3d81615110521e4b05830ba85fbe76553","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:09:45.382976Z","signature_b64":"hIjsWMnzHMEv9imsbjDIG0zzX1/nCSoZgQxafCXbXEzvYCS0Kqg2wKNycbGQ+e6NwTO4pKUJPDintQP9MoySCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e8abf3cb9ab09d048ddad9d179d3d2a3d81615110521e4b05830ba85fbe76553","last_reissued_at":"2026-06-19T16:09:45.382489Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:09:45.382489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.14329","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:09:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pPN6s1h7sl2Ws9S+F0U0wXqU0le2gJ1fBwvxb/xE8oY8e9/yDxsrH95SLKBot49xdyPbFyrK8+q3GsYKt5nfAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T20:37:27.256716Z"},"content_sha256":"f8d6bbd0df5eedd42c1a7ecfed1a784835390fb047ec03a6824f4436bbcdd2be","schema_version":"1.0","event_id":"sha256:f8d6bbd0df5eedd42c1a7ecfed1a784835390fb047ec03a6824f4436bbcdd2be"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:5CV7HS42WCOQJDO23HIXTU6SUP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SSIL: Self-Supervised Imitation Learning for End-to-End Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Hyun Min Han, Il Yong Chun, Jin Bok Park, Jinkyu Lee, Muhyun Back, Sang Min Won, Sung Soo Hwang, Tianwei Ma","submitted_at":"2023-08-28T06:17:15Z","abstract_excerpt":"In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and human intervention. Vehicle control data is constructed by many hours of human driving, and it is challenging to construct large vehicle control datasets. Often, publicly available driving datasets are collected with limited driving scenes, and collecting vehicle control data is only available by vehicle manufacturers. To address these challenges, this pape"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.14329","kind":"arxiv","version":4},"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/2308.14329/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":"2026-06-19T16:09:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kh/r5lNob3zRAl/40tyY8cGUjrxjl3hKOzvy/YLjtwi16JaNI3zY1VSfU/czJW0KoA2JdO5URx7A6h/Y+lvQAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-20T20:37:27.257086Z"},"content_sha256":"3896f79f0957efc49224fda1e1a577fab428d2cf7d332c521e02412b71e7ee85","schema_version":"1.0","event_id":"sha256:3896f79f0957efc49224fda1e1a577fab428d2cf7d332c521e02412b71e7ee85"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5CV7HS42WCOQJDO23HIXTU6SUP/bundle.json","state_url":"https://pith.science/pith/5CV7HS42WCOQJDO23HIXTU6SUP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5CV7HS42WCOQJDO23HIXTU6SUP/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":"2026-06-20T20:37:27Z","links":{"resolver":"https://pith.science/pith/5CV7HS42WCOQJDO23HIXTU6SUP","bundle":"https://pith.science/pith/5CV7HS42WCOQJDO23HIXTU6SUP/bundle.json","state":"https://pith.science/pith/5CV7HS42WCOQJDO23HIXTU6SUP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5CV7HS42WCOQJDO23HIXTU6SUP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:5CV7HS42WCOQJDO23HIXTU6SUP","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":"9dd94a4788bb18581cc9ecf6a06d911dd2f943999d13257467fbfcf2f833352e","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T06:17:15Z","title_canon_sha256":"8d60c27193b466bc1b7b11c58c7aadb95023a739202c2b16855743892b55128a"},"schema_version":"1.0","source":{"id":"2308.14329","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.14329","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"arxiv_version","alias_value":"2308.14329v4","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.14329","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_12","alias_value":"5CV7HS42WCOQ","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_16","alias_value":"5CV7HS42WCOQJDO2","created_at":"2026-06-19T16:09:45Z"},{"alias_kind":"pith_short_8","alias_value":"5CV7HS42","created_at":"2026-06-19T16:09:45Z"}],"graph_snapshots":[{"event_id":"sha256:3896f79f0957efc49224fda1e1a577fab428d2cf7d332c521e02412b71e7ee85","target":"graph","created_at":"2026-06-19T16:09:45Z","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/2308.14329/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and human intervention. Vehicle control data is constructed by many hours of human driving, and it is challenging to construct large vehicle control datasets. Often, publicly available driving datasets are collected with limited driving scenes, and collecting vehicle control data is only available by vehicle manufacturers. To address these challenges, this pape","authors_text":"Hyun Min Han, Il Yong Chun, Jin Bok Park, Jinkyu Lee, Muhyun Back, Sang Min Won, Sung Soo Hwang, Tianwei Ma","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T06:17:15Z","title":"SSIL: Self-Supervised Imitation Learning for End-to-End Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.14329","kind":"arxiv","version":4},"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:f8d6bbd0df5eedd42c1a7ecfed1a784835390fb047ec03a6824f4436bbcdd2be","target":"record","created_at":"2026-06-19T16:09:45Z","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":"9dd94a4788bb18581cc9ecf6a06d911dd2f943999d13257467fbfcf2f833352e","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T06:17:15Z","title_canon_sha256":"8d60c27193b466bc1b7b11c58c7aadb95023a739202c2b16855743892b55128a"},"schema_version":"1.0","source":{"id":"2308.14329","kind":"arxiv","version":4}},"canonical_sha256":"e8abf3cb9ab09d048ddad9d179d3d2a3d81615110521e4b05830ba85fbe76553","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e8abf3cb9ab09d048ddad9d179d3d2a3d81615110521e4b05830ba85fbe76553","first_computed_at":"2026-06-19T16:09:45.382489Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:09:45.382489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hIjsWMnzHMEv9imsbjDIG0zzX1/nCSoZgQxafCXbXEzvYCS0Kqg2wKNycbGQ+e6NwTO4pKUJPDintQP9MoySCQ==","signature_status":"signed_v1","signed_at":"2026-06-19T16:09:45.382976Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.14329","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f8d6bbd0df5eedd42c1a7ecfed1a784835390fb047ec03a6824f4436bbcdd2be","sha256:3896f79f0957efc49224fda1e1a577fab428d2cf7d332c521e02412b71e7ee85"],"state_sha256":"287b0ee69465635784b0f202e163b0afe74fcbef81be774efc96fc30e0c7de3f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z5qXwWwvdbieE2RslX3EV2ijjAZJVXGE89vpb+tXo3sR9kmBiioiChZ0lJJZyG04+/4ergI+Hj6+yS0xMtgABA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-20T20:37:27.259092Z","bundle_sha256":"273def27fd2309bc7ec228e87d010e49c5f91784862df23f3d2e44a71780ca6f"}}