{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:E6ZPG7GDHIIS7MZVOEKMRSVWHT","short_pith_number":"pith:E6ZPG7GD","canonical_record":{"source":{"id":"2607.19774","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-22T05:44:47Z","cross_cats_sorted":[],"title_canon_sha256":"bb2bc06696b8cfa5ebb1e118e27561dd6a12601410f8688b15743bc9e94b6a86","abstract_canon_sha256":"b67c55be616b4940204e4c7ee9899203b2e6cddf982da9a2ba316d3f190ea1f4"},"schema_version":"1.0"},"canonical_sha256":"27b2f37cc33a112fb3357114c8cab63cecfd9107e37b990a3063e823fccec277","source":{"kind":"arxiv","id":"2607.19774","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.19774","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"arxiv_version","alias_value":"2607.19774v1","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.19774","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_12","alias_value":"E6ZPG7GDHIIS","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_16","alias_value":"E6ZPG7GDHIIS7MZV","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_8","alias_value":"E6ZPG7GD","created_at":"2026-07-23T01:23:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:E6ZPG7GDHIIS7MZVOEKMRSVWHT","target":"record","payload":{"canonical_record":{"source":{"id":"2607.19774","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-22T05:44:47Z","cross_cats_sorted":[],"title_canon_sha256":"bb2bc06696b8cfa5ebb1e118e27561dd6a12601410f8688b15743bc9e94b6a86","abstract_canon_sha256":"b67c55be616b4940204e4c7ee9899203b2e6cddf982da9a2ba316d3f190ea1f4"},"schema_version":"1.0"},"canonical_sha256":"27b2f37cc33a112fb3357114c8cab63cecfd9107e37b990a3063e823fccec277","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-23T01:23:58.518253Z","signature_b64":"k5rrm35F+WS1K17qI0lqfqj0OeU8pYCaUs42xNnk0GlaucXLHTASCrs3uMRQTkCFpa8SsFw+kxBb+0oLyAhgCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"27b2f37cc33a112fb3357114c8cab63cecfd9107e37b990a3063e823fccec277","last_reissued_at":"2026-07-23T01:23:58.517278Z","signature_status":"signed_v1","first_computed_at":"2026-07-23T01:23:58.517278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.19774","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":"2026-07-23T01:23:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cnuJE9v+T1SPxgeG4az9AUjHDXY96weD7sSL1wSqVhhCAbaODGsbtBAUfRrFZVkWWgpjhDNOkgzRhhhcPUi8Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T21:05:39.371124Z"},"content_sha256":"a541c85182e36064c97ed6da4a0bea114a888e6072a8119b515b136b2af6b39d","schema_version":"1.0","event_id":"sha256:a541c85182e36064c97ed6da4a0bea114a888e6072a8119b515b136b2af6b39d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:E6ZPG7GDHIIS7MZVOEKMRSVWHT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chao Sun, Nuoran Li, Tianze Wang, Yueran Zhao, Zhang Zhang","submitted_at":"2026-07-22T05:44:47Z","abstract_excerpt":"Vehicle-to-everything-aided autonomous driving (V2X-AD) significantly enhances driving performance through information sharing. However, existing collaborative perception methods only optimize module-level perception capabilities and fail to effectively serve the ultimate planning and control tasks. We propose an end-to-end collaborative driving system that directly optimizes planning task performance. The system employs MotionNetwork to fuse historical temporal information, utilizes attention mechanisms to efficiently compress spatial features into compact tokens, and adaptively fuses multi-a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.19774","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/2607.19774/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":"2026-07-23T01:23:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NXOwlSb3rS3b20y9fFSPx1htnWmR7MOOzcAcp4bEVR0onuxwJ0psrtqFOUN8TQRzu8rBLiNhvAmasmoCMSdlCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T21:05:39.371631Z"},"content_sha256":"1bb4235a12fd8953adf0aaabd7c7c8a3ca87089c62e09ee4bafe20b7b7e2e28b","schema_version":"1.0","event_id":"sha256:1bb4235a12fd8953adf0aaabd7c7c8a3ca87089c62e09ee4bafe20b7b7e2e28b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/bundle.json","state_url":"https://pith.science/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/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":"2026-08-09T21:05:39Z","links":{"resolver":"https://pith.science/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT","bundle":"https://pith.science/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/bundle.json","state":"https://pith.science/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/E6ZPG7GDHIIS7MZVOEKMRSVWHT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:E6ZPG7GDHIIS7MZVOEKMRSVWHT","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":"b67c55be616b4940204e4c7ee9899203b2e6cddf982da9a2ba316d3f190ea1f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-22T05:44:47Z","title_canon_sha256":"bb2bc06696b8cfa5ebb1e118e27561dd6a12601410f8688b15743bc9e94b6a86"},"schema_version":"1.0","source":{"id":"2607.19774","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.19774","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"arxiv_version","alias_value":"2607.19774v1","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.19774","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_12","alias_value":"E6ZPG7GDHIIS","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_16","alias_value":"E6ZPG7GDHIIS7MZV","created_at":"2026-07-23T01:23:58Z"},{"alias_kind":"pith_short_8","alias_value":"E6ZPG7GD","created_at":"2026-07-23T01:23:58Z"}],"graph_snapshots":[{"event_id":"sha256:1bb4235a12fd8953adf0aaabd7c7c8a3ca87089c62e09ee4bafe20b7b7e2e28b","target":"graph","created_at":"2026-07-23T01:23:58Z","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/2607.19774/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vehicle-to-everything-aided autonomous driving (V2X-AD) significantly enhances driving performance through information sharing. However, existing collaborative perception methods only optimize module-level perception capabilities and fail to effectively serve the ultimate planning and control tasks. We propose an end-to-end collaborative driving system that directly optimizes planning task performance. The system employs MotionNetwork to fuse historical temporal information, utilizes attention mechanisms to efficiently compress spatial features into compact tokens, and adaptively fuses multi-a","authors_text":"Chao Sun, Nuoran Li, Tianze Wang, Yueran Zhao, Zhang Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-22T05:44:47Z","title":"Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.19774","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:a541c85182e36064c97ed6da4a0bea114a888e6072a8119b515b136b2af6b39d","target":"record","created_at":"2026-07-23T01:23:58Z","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":"b67c55be616b4940204e4c7ee9899203b2e6cddf982da9a2ba316d3f190ea1f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-22T05:44:47Z","title_canon_sha256":"bb2bc06696b8cfa5ebb1e118e27561dd6a12601410f8688b15743bc9e94b6a86"},"schema_version":"1.0","source":{"id":"2607.19774","kind":"arxiv","version":1}},"canonical_sha256":"27b2f37cc33a112fb3357114c8cab63cecfd9107e37b990a3063e823fccec277","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"27b2f37cc33a112fb3357114c8cab63cecfd9107e37b990a3063e823fccec277","first_computed_at":"2026-07-23T01:23:58.517278Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-23T01:23:58.517278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k5rrm35F+WS1K17qI0lqfqj0OeU8pYCaUs42xNnk0GlaucXLHTASCrs3uMRQTkCFpa8SsFw+kxBb+0oLyAhgCw==","signature_status":"signed_v1","signed_at":"2026-07-23T01:23:58.518253Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.19774","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a541c85182e36064c97ed6da4a0bea114a888e6072a8119b515b136b2af6b39d","sha256:1bb4235a12fd8953adf0aaabd7c7c8a3ca87089c62e09ee4bafe20b7b7e2e28b"],"state_sha256":"63adb4772bb7221b24a1adeaa07643351555a00b25ca734ad2c10646f477183c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tBd7RmrzHxLFSi3SIHEN1S6RU0P0U6fVAitBQeqq1znAxOGyO+iNgO0LUzUif/d6DQdueOSSvP1LnUZm/N1oCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T21:05:39.375891Z","bundle_sha256":"dfc5d7e8e404d535a317358c5e865742f363e0dbd09ba6e165b91b70bf5b8759"}}