{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:CGMHEZWC3GUHCK2ROOOUHUEGC5","short_pith_number":"pith:CGMHEZWC","canonical_record":{"source":{"id":"2607.21043","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-23T08:25:01Z","cross_cats_sorted":[],"title_canon_sha256":"0d1055242490a316d1c1f6c4bb4ed4755db22e022ae2c5111850457041a956b8","abstract_canon_sha256":"df72fb77f54d3b2521783ca38d62583a7e63adaedc6ec04a71ee6b4fa5f19e95"},"schema_version":"1.0"},"canonical_sha256":"11987266c2d9a8712b51739d43d086177cf131d84c24fdd8a2ac48c8514da9d9","source":{"kind":"arxiv","id":"2607.21043","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.21043","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"arxiv_version","alias_value":"2607.21043v1","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.21043","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_12","alias_value":"CGMHEZWC3GUH","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_16","alias_value":"CGMHEZWC3GUHCK2R","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_8","alias_value":"CGMHEZWC","created_at":"2026-07-24T01:23:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:CGMHEZWC3GUHCK2ROOOUHUEGC5","target":"record","payload":{"canonical_record":{"source":{"id":"2607.21043","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-23T08:25:01Z","cross_cats_sorted":[],"title_canon_sha256":"0d1055242490a316d1c1f6c4bb4ed4755db22e022ae2c5111850457041a956b8","abstract_canon_sha256":"df72fb77f54d3b2521783ca38d62583a7e63adaedc6ec04a71ee6b4fa5f19e95"},"schema_version":"1.0"},"canonical_sha256":"11987266c2d9a8712b51739d43d086177cf131d84c24fdd8a2ac48c8514da9d9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-24T01:23:48.841793Z","signature_b64":"azDZg3U64nRX0A46/ZLHI71phSj2KE5of7/LWvjngHyskO1LJQbZT9zTXkZQO3Axw4wGFTUa7DMqi0PisCkHBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"11987266c2d9a8712b51739d43d086177cf131d84c24fdd8a2ac48c8514da9d9","last_reissued_at":"2026-07-24T01:23:48.840790Z","signature_status":"signed_v1","first_computed_at":"2026-07-24T01:23:48.840790Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.21043","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":"2026-07-24T01:23:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oEJMJIzHoYw+XUBfprXcy/k7PdcFq9oESmap+pKd94hk6iFGOBEVmUW0mY2YNmpD56l7NYWbHQJH+LFFUisXAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T12:06:03.147638Z"},"content_sha256":"ccb2c1d1b6dd271155888d3d656b194eb938b67e24b0b329feb89224034ca3e5","schema_version":"1.0","event_id":"sha256:ccb2c1d1b6dd271155888d3d656b194eb938b67e24b0b329feb89224034ca3e5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:CGMHEZWC3GUHCK2ROOOUHUEGC5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guillaume Sandou (L2S), Marc Revilloud, Mohamed-Cherif Rahal, Nouhed Naidja, St\\'ephane Font, Steve Pechberti","submitted_at":"2026-07-23T08:25:01Z","abstract_excerpt":"Safe and efficient navigation in mixed-traffic environments remains a critical challenge for Autonomous Vehicles (AVs), primarily due to the complex interdependence between the AV's decisions and the unpredictable reactions of human drivers. This paper introduces a comprehensive decision-making framework that formulates the driving interaction as a Generalized Nash Equilibrium Problem (GNEP). Unlike decoupled optimization approaches, this framework explicitly models shared safety and geometric constraints, ensuring that the feasibility of the AV's strategy is dynamically linked to the opponent"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.21043","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/2607.21043/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":"2026-07-24T01:23:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KoOtYjtZgVTfnLBMQ8/VWMTZTI94MTVFQnQLcY536OMpxV530rZIymqwFce/AZArKqK7OUUWao6+YcbtDrldAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T12:06:03.148176Z"},"content_sha256":"7935a7d1196aa48127ecc06f591fd4a432ed351bd741845f87558e54c11e1b5f","schema_version":"1.0","event_id":"sha256:7935a7d1196aa48127ecc06f591fd4a432ed351bd741845f87558e54c11e1b5f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/bundle.json","state_url":"https://pith.science/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/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":"2026-08-23T12:06:03Z","links":{"resolver":"https://pith.science/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5","bundle":"https://pith.science/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/bundle.json","state":"https://pith.science/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CGMHEZWC3GUHCK2ROOOUHUEGC5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:CGMHEZWC3GUHCK2ROOOUHUEGC5","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":"df72fb77f54d3b2521783ca38d62583a7e63adaedc6ec04a71ee6b4fa5f19e95","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-23T08:25:01Z","title_canon_sha256":"0d1055242490a316d1c1f6c4bb4ed4755db22e022ae2c5111850457041a956b8"},"schema_version":"1.0","source":{"id":"2607.21043","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.21043","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"arxiv_version","alias_value":"2607.21043v1","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.21043","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_12","alias_value":"CGMHEZWC3GUH","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_16","alias_value":"CGMHEZWC3GUHCK2R","created_at":"2026-07-24T01:23:48Z"},{"alias_kind":"pith_short_8","alias_value":"CGMHEZWC","created_at":"2026-07-24T01:23:48Z"}],"graph_snapshots":[{"event_id":"sha256:7935a7d1196aa48127ecc06f591fd4a432ed351bd741845f87558e54c11e1b5f","target":"graph","created_at":"2026-07-24T01:23:48Z","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/2607.21043/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safe and efficient navigation in mixed-traffic environments remains a critical challenge for Autonomous Vehicles (AVs), primarily due to the complex interdependence between the AV's decisions and the unpredictable reactions of human drivers. This paper introduces a comprehensive decision-making framework that formulates the driving interaction as a Generalized Nash Equilibrium Problem (GNEP). Unlike decoupled optimization approaches, this framework explicitly models shared safety and geometric constraints, ensuring that the feasibility of the AV's strategy is dynamically linked to the opponent","authors_text":"Guillaume Sandou (L2S), Marc Revilloud, Mohamed-Cherif Rahal, Nouhed Naidja, St\\'ephane Font, Steve Pechberti","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-23T08:25:01Z","title":"A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.21043","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:ccb2c1d1b6dd271155888d3d656b194eb938b67e24b0b329feb89224034ca3e5","target":"record","created_at":"2026-07-24T01:23:48Z","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":"df72fb77f54d3b2521783ca38d62583a7e63adaedc6ec04a71ee6b4fa5f19e95","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-23T08:25:01Z","title_canon_sha256":"0d1055242490a316d1c1f6c4bb4ed4755db22e022ae2c5111850457041a956b8"},"schema_version":"1.0","source":{"id":"2607.21043","kind":"arxiv","version":1}},"canonical_sha256":"11987266c2d9a8712b51739d43d086177cf131d84c24fdd8a2ac48c8514da9d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"11987266c2d9a8712b51739d43d086177cf131d84c24fdd8a2ac48c8514da9d9","first_computed_at":"2026-07-24T01:23:48.840790Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-24T01:23:48.840790Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"azDZg3U64nRX0A46/ZLHI71phSj2KE5of7/LWvjngHyskO1LJQbZT9zTXkZQO3Axw4wGFTUa7DMqi0PisCkHBg==","signature_status":"signed_v1","signed_at":"2026-07-24T01:23:48.841793Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.21043","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ccb2c1d1b6dd271155888d3d656b194eb938b67e24b0b329feb89224034ca3e5","sha256:7935a7d1196aa48127ecc06f591fd4a432ed351bd741845f87558e54c11e1b5f"],"state_sha256":"79eaa91819f4912168da400ab16f29e483b5e1e8f48791006970bc73af8bbec8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Rx1avCw07x+7Z1gUhVj/ZxjS0+xhYnzlNpCZ09JtkOTWn83mjmUI2tEwOwmCCx4D23XZZIXdgFXnCpvUdr5aBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T12:06:03.154302Z","bundle_sha256":"611850fa7b70adaf590bb67fad22e030a56670281c9359a358f9cdadc6faa0b6"}}