{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:AYBNDZUWSBVBKQZ3ZQQZ7AGI2U","short_pith_number":"pith:AYBNDZUW","canonical_record":{"source":{"id":"1907.02464","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-04T15:39:58Z","cross_cats_sorted":[],"title_canon_sha256":"f72c161d574340bc672d91ba31ba9bf506ccae0773a8199ad9ea70da8a44d4d6","abstract_canon_sha256":"c845f538364af555c80ba7cd143f47f19a47dd0d0e6530899f82a3d419c6c03a"},"schema_version":"1.0"},"canonical_sha256":"0602d1e696906a15433bcc219f80c8d503838f0e8f8b08629e4a7219468c3f92","source":{"kind":"arxiv","id":"1907.02464","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.02464","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"arxiv_version","alias_value":"1907.02464v1","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.02464","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"pith_short_12","alias_value":"AYBNDZUWSBVB","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"AYBNDZUWSBVBKQZ3","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"AYBNDZUW","created_at":"2026-05-18T12:33:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:AYBNDZUWSBVBKQZ3ZQQZ7AGI2U","target":"record","payload":{"canonical_record":{"source":{"id":"1907.02464","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-04T15:39:58Z","cross_cats_sorted":[],"title_canon_sha256":"f72c161d574340bc672d91ba31ba9bf506ccae0773a8199ad9ea70da8a44d4d6","abstract_canon_sha256":"c845f538364af555c80ba7cd143f47f19a47dd0d0e6530899f82a3d419c6c03a"},"schema_version":"1.0"},"canonical_sha256":"0602d1e696906a15433bcc219f80c8d503838f0e8f8b08629e4a7219468c3f92","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:41:28.534175Z","signature_b64":"f/cK9gWd5P3VJ2buG7bMDV4uVsEY6tqh7SlOYJLt/6i9xdezFoskHjy0eCyxN/DgS9r6dEHBDjWQb1m415yQDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0602d1e696906a15433bcc219f80c8d503838f0e8f8b08629e4a7219468c3f92","last_reissued_at":"2026-05-17T23:41:28.533645Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:41:28.533645Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.02464","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":"2026-05-17T23:41:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BtTb8xiJx++vMyzVdw6ecuGsPulOTBuAIAsDPOoXBK4EwOlIFM8NRAqNBXsL72g0/P/tTpkwEzyfOkCJ970rAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T10:36:46.363965Z"},"content_sha256":"90ab6b35864fd62ad7a212f8e47054f33f2a5b91d1707eb3c6a09f3da948effa","schema_version":"1.0","event_id":"sha256:90ab6b35864fd62ad7a212f8e47054f33f2a5b91d1707eb3c6a09f3da948effa"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:AYBNDZUWSBVBKQZ3ZQQZ7AGI2U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Regeneration and Joining of the Learned Motion Primitives for Automated Vehicle Motion Planning Applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyang Wang, Huiyan Chen, Jianwei Gong, Wenli Liang","submitted_at":"2019-07-04T15:39:58Z","abstract_excerpt":"How to integrate human factors into the motion planning system is of great significance for improving the acceptance of intelligent vehicles. Decomposing motion into primitives and then accurately and smoothly joining the motion primitives (MPs) is an essential issue in the motion planning system. Therefore, the purpose of this paper is to regenerate and join the learned MPs in the library. By applying a representation algorithm based on the modified dynamic movement primitives (DMPs) and singular value decomposition (SVD), our method separates the basic shape parameters and fine-tuning shape "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.02464","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":""},"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":"2026-05-17T23:41:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s3zeW4iqCBDL4Yo0rEewqgEMOHnlH/n8bx73+tTFUzwZzBR2hX/M6E9wfB7qXQd6d6QMWRbwldD3j6/eDbzDCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T10:36:46.364296Z"},"content_sha256":"7bec65a946e70af146c99ebe016d47b026427ab839a3fcf4c019bacdec86d1ac","schema_version":"1.0","event_id":"sha256:7bec65a946e70af146c99ebe016d47b026427ab839a3fcf4c019bacdec86d1ac"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/bundle.json","state_url":"https://pith.science/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/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":"2026-06-28T10:36:46Z","links":{"resolver":"https://pith.science/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U","bundle":"https://pith.science/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/bundle.json","state":"https://pith.science/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AYBNDZUWSBVBKQZ3ZQQZ7AGI2U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:AYBNDZUWSBVBKQZ3ZQQZ7AGI2U","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":"c845f538364af555c80ba7cd143f47f19a47dd0d0e6530899f82a3d419c6c03a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-04T15:39:58Z","title_canon_sha256":"f72c161d574340bc672d91ba31ba9bf506ccae0773a8199ad9ea70da8a44d4d6"},"schema_version":"1.0","source":{"id":"1907.02464","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.02464","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"arxiv_version","alias_value":"1907.02464v1","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.02464","created_at":"2026-05-17T23:41:28Z"},{"alias_kind":"pith_short_12","alias_value":"AYBNDZUWSBVB","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"AYBNDZUWSBVBKQZ3","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"AYBNDZUW","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:7bec65a946e70af146c99ebe016d47b026427ab839a3fcf4c019bacdec86d1ac","target":"graph","created_at":"2026-05-17T23:41:28Z","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"},"paper":{"abstract_excerpt":"How to integrate human factors into the motion planning system is of great significance for improving the acceptance of intelligent vehicles. Decomposing motion into primitives and then accurately and smoothly joining the motion primitives (MPs) is an essential issue in the motion planning system. Therefore, the purpose of this paper is to regenerate and join the learned MPs in the library. By applying a representation algorithm based on the modified dynamic movement primitives (DMPs) and singular value decomposition (SVD), our method separates the basic shape parameters and fine-tuning shape ","authors_text":"Boyang Wang, Huiyan Chen, Jianwei Gong, Wenli Liang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-04T15:39:58Z","title":"Regeneration and Joining of the Learned Motion Primitives for Automated Vehicle Motion Planning Applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.02464","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":"sha256:90ab6b35864fd62ad7a212f8e47054f33f2a5b91d1707eb3c6a09f3da948effa","target":"record","created_at":"2026-05-17T23:41:28Z","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":"c845f538364af555c80ba7cd143f47f19a47dd0d0e6530899f82a3d419c6c03a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-04T15:39:58Z","title_canon_sha256":"f72c161d574340bc672d91ba31ba9bf506ccae0773a8199ad9ea70da8a44d4d6"},"schema_version":"1.0","source":{"id":"1907.02464","kind":"arxiv","version":1}},"canonical_sha256":"0602d1e696906a15433bcc219f80c8d503838f0e8f8b08629e4a7219468c3f92","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0602d1e696906a15433bcc219f80c8d503838f0e8f8b08629e4a7219468c3f92","first_computed_at":"2026-05-17T23:41:28.533645Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:28.533645Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"f/cK9gWd5P3VJ2buG7bMDV4uVsEY6tqh7SlOYJLt/6i9xdezFoskHjy0eCyxN/DgS9r6dEHBDjWQb1m415yQDA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:28.534175Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.02464","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:90ab6b35864fd62ad7a212f8e47054f33f2a5b91d1707eb3c6a09f3da948effa","sha256:7bec65a946e70af146c99ebe016d47b026427ab839a3fcf4c019bacdec86d1ac"],"state_sha256":"4acc33de7749a71c35616c74ff8cec65f1b6e90b0690f396aaa245c665c236cc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"soXpBbE0XX/TzyydPyjxsW2Jjavel1LcrL30sFfdLA3HUkFbCngHXcCMUtWeW5tqURzjohBlRIkQ3tHXniYrDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T10:36:46.366021Z","bundle_sha256":"49b8e29b8cc366c81ec8af4f418f50394072c792520f8a36f00c8ce2e7a912f2"}}