{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:D6WLVMO53YFNHR66F6HVBZ3KK7","short_pith_number":"pith:D6WLVMO5","canonical_record":{"source":{"id":"2403.15791","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-23T10:38:59Z","cross_cats_sorted":[],"title_canon_sha256":"63eb8b1d0718ee08210ef0ab172df8499ad9fc24bea3d6c18557c4eff4745afb","abstract_canon_sha256":"68e0650d62256c210fa698490818a1b72b5da0b205692eb0370cc5f9f2aa05b9"},"schema_version":"1.0"},"canonical_sha256":"1facbab1ddde0ad3c7de2f8f50e76a57dfeacdd8eb26842646e7679e2e51880b","source":{"kind":"arxiv","id":"2403.15791","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.15791","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"arxiv_version","alias_value":"2403.15791v2","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.15791","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_12","alias_value":"D6WLVMO53YFN","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_16","alias_value":"D6WLVMO53YFNHR66","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_8","alias_value":"D6WLVMO5","created_at":"2026-07-05T08:25:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:D6WLVMO53YFNHR66F6HVBZ3KK7","target":"record","payload":{"canonical_record":{"source":{"id":"2403.15791","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-23T10:38:59Z","cross_cats_sorted":[],"title_canon_sha256":"63eb8b1d0718ee08210ef0ab172df8499ad9fc24bea3d6c18557c4eff4745afb","abstract_canon_sha256":"68e0650d62256c210fa698490818a1b72b5da0b205692eb0370cc5f9f2aa05b9"},"schema_version":"1.0"},"canonical_sha256":"1facbab1ddde0ad3c7de2f8f50e76a57dfeacdd8eb26842646e7679e2e51880b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:25:02.009948Z","signature_b64":"ITvC5+8yJtkZKcK1fzb98dcj44U+GKihIUJDSWBrTqr5Ws8VemTv4Q/hh7jScWIZHfFczKU2qeZ0VX0Il3xTBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1facbab1ddde0ad3c7de2f8f50e76a57dfeacdd8eb26842646e7679e2e51880b","last_reissued_at":"2026-07-05T08:25:02.009463Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:25:02.009463Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.15791","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":"2026-07-05T08:25:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DSCydDKPzNsBFtTZ8k+gHXU8wz1sAfmVrj7J4UUZrNkBLeQxOBDm3eCOX3gHoQbF/tcRSJg8fgZRybCwfr5nAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T15:44:41.901028Z"},"content_sha256":"07cdf9273a852d47ad9e4531ae1d0d4e0ba3500ead4531fae7b1bf5b7257ccda","schema_version":"1.0","event_id":"sha256:07cdf9273a852d47ad9e4531ae1d0d4e0ba3500ead4531fae7b1bf5b7257ccda"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:D6WLVMO53YFNHR66F6HVBZ3KK7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DriveEnv-NeRF: Exploration of A NeRF-Based Autonomous Driving Environment for Real-World Performance Validation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chia-Che Chang, Chia-Chi Hsu, Chun-Yi Lee, Hao-Yu Hou, Mu-Yi Shen, Wei-Fang Sun, Yu-Chen Huang, Yu-Lun Liu","submitted_at":"2024-03-23T10:38:59Z","abstract_excerpt":"In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard simulator-based rendering often fails to accurately reflect real-world performance due to the sim-to-real gap, which represents the disparity between virtual simulations and real-world conditions. To mitigate this gap, we propose a workflow for building a high-fidelity simulation environment of the targeted real-world scene using NeRF. This approach is capabl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.15791","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/2403.15791/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":"2026-07-05T08:25:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DxAjbSsClIdUw4IsrQ01olVNODnW8AsKIS7tu5XCZBWtivOc1Ne02PcgFU70V/suMUlOFjPEjplPwxOlO7NmCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T15:44:41.901409Z"},"content_sha256":"c0da36a76c7f9a0d07adbe145cf240dbf31388449b5d103a35800396277f7698","schema_version":"1.0","event_id":"sha256:c0da36a76c7f9a0d07adbe145cf240dbf31388449b5d103a35800396277f7698"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/bundle.json","state_url":"https://pith.science/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/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":"2026-07-07T15:44:41Z","links":{"resolver":"https://pith.science/pith/D6WLVMO53YFNHR66F6HVBZ3KK7","bundle":"https://pith.science/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/bundle.json","state":"https://pith.science/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D6WLVMO53YFNHR66F6HVBZ3KK7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:D6WLVMO53YFNHR66F6HVBZ3KK7","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":"68e0650d62256c210fa698490818a1b72b5da0b205692eb0370cc5f9f2aa05b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-23T10:38:59Z","title_canon_sha256":"63eb8b1d0718ee08210ef0ab172df8499ad9fc24bea3d6c18557c4eff4745afb"},"schema_version":"1.0","source":{"id":"2403.15791","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.15791","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"arxiv_version","alias_value":"2403.15791v2","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.15791","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_12","alias_value":"D6WLVMO53YFN","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_16","alias_value":"D6WLVMO53YFNHR66","created_at":"2026-07-05T08:25:02Z"},{"alias_kind":"pith_short_8","alias_value":"D6WLVMO5","created_at":"2026-07-05T08:25:02Z"}],"graph_snapshots":[{"event_id":"sha256:c0da36a76c7f9a0d07adbe145cf240dbf31388449b5d103a35800396277f7698","target":"graph","created_at":"2026-07-05T08:25:02Z","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/2403.15791/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard simulator-based rendering often fails to accurately reflect real-world performance due to the sim-to-real gap, which represents the disparity between virtual simulations and real-world conditions. To mitigate this gap, we propose a workflow for building a high-fidelity simulation environment of the targeted real-world scene using NeRF. This approach is capabl","authors_text":"Chia-Che Chang, Chia-Chi Hsu, Chun-Yi Lee, Hao-Yu Hou, Mu-Yi Shen, Wei-Fang Sun, Yu-Chen Huang, Yu-Lun Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-23T10:38:59Z","title":"DriveEnv-NeRF: Exploration of A NeRF-Based Autonomous Driving Environment for Real-World Performance Validation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.15791","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":"sha256:07cdf9273a852d47ad9e4531ae1d0d4e0ba3500ead4531fae7b1bf5b7257ccda","target":"record","created_at":"2026-07-05T08:25:02Z","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":"68e0650d62256c210fa698490818a1b72b5da0b205692eb0370cc5f9f2aa05b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-23T10:38:59Z","title_canon_sha256":"63eb8b1d0718ee08210ef0ab172df8499ad9fc24bea3d6c18557c4eff4745afb"},"schema_version":"1.0","source":{"id":"2403.15791","kind":"arxiv","version":2}},"canonical_sha256":"1facbab1ddde0ad3c7de2f8f50e76a57dfeacdd8eb26842646e7679e2e51880b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1facbab1ddde0ad3c7de2f8f50e76a57dfeacdd8eb26842646e7679e2e51880b","first_computed_at":"2026-07-05T08:25:02.009463Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:25:02.009463Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ITvC5+8yJtkZKcK1fzb98dcj44U+GKihIUJDSWBrTqr5Ws8VemTv4Q/hh7jScWIZHfFczKU2qeZ0VX0Il3xTBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:25:02.009948Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.15791","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:07cdf9273a852d47ad9e4531ae1d0d4e0ba3500ead4531fae7b1bf5b7257ccda","sha256:c0da36a76c7f9a0d07adbe145cf240dbf31388449b5d103a35800396277f7698"],"state_sha256":"f580e158e3782401ffa769cd3209a151efd4fcb1f20abb07b4162b8a39b4c10a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gN7Yhc2fjaCdEQK/wmucRciqfsXqYhXZ8s7TgM3j8fujSY4Z0QhmyKmslEGtuwejQ9jwtwL3QsdMI6B1SPe7CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T15:44:41.904577Z","bundle_sha256":"fa5f132f520f5aa17cefc42a53bbc4675ba2d61e9fc13b3d540e6f3547d1b782"}}