{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:EJBQTRVRISZDJOZYH6H4NKXFE6","short_pith_number":"pith:EJBQTRVR","canonical_record":{"source":{"id":"2102.06765","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-12T20:37:29Z","cross_cats_sorted":[],"title_canon_sha256":"1e016341a96c605a572fddd771d8b53af558ef92bb50e93f5919da2f879a4ca1","abstract_canon_sha256":"b4fa130d08864ab77b22f76045b57952ac8ac43d6d085596563c45e626584c10"},"schema_version":"1.0"},"canonical_sha256":"224309c6b144b234bb383f8fc6aae527babd6d548cfa83c7a1f2f2ed93672601","source":{"kind":"arxiv","id":"2102.06765","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.06765","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"arxiv_version","alias_value":"2102.06765v2","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.06765","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_12","alias_value":"EJBQTRVRISZD","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_16","alias_value":"EJBQTRVRISZDJOZY","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_8","alias_value":"EJBQTRVR","created_at":"2026-07-05T04:03:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:EJBQTRVRISZDJOZYH6H4NKXFE6","target":"record","payload":{"canonical_record":{"source":{"id":"2102.06765","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-12T20:37:29Z","cross_cats_sorted":[],"title_canon_sha256":"1e016341a96c605a572fddd771d8b53af558ef92bb50e93f5919da2f879a4ca1","abstract_canon_sha256":"b4fa130d08864ab77b22f76045b57952ac8ac43d6d085596563c45e626584c10"},"schema_version":"1.0"},"canonical_sha256":"224309c6b144b234bb383f8fc6aae527babd6d548cfa83c7a1f2f2ed93672601","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:03:36.069859Z","signature_b64":"aFbo66i2znGtALPX60xS5A0JOz21oGrRwy/bFnQUx8CTtcMtgPzga7+R6ojdHBpBna1bYeONriCnLduawjQGCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"224309c6b144b234bb383f8fc6aae527babd6d548cfa83c7a1f2f2ed93672601","last_reissued_at":"2026-07-05T04:03:36.069406Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:03:36.069406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2102.06765","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":"2026-07-05T04:03:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PZyZp9+bj67p3XEkyFxIvR/hlzbZ+TZ0xEEYgzgiMgNaKghzcbxjEblBYs5+9zkJOUK8i3OCV5R9XdUHbhDbDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T13:38:49.191018Z"},"content_sha256":"e6c3f2871b6c488ca35a72fae6ff3ae98818d2897feb0169433c99eafa45337b","schema_version":"1.0","event_id":"sha256:e6c3f2871b6c488ca35a72fae6ff3ae98818d2897feb0169433c99eafa45337b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:EJBQTRVRISZDJOZYH6H4NKXFE6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Generalizing Decision Making for Automated Driving with an Invariant Environment Representation using Deep Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.LG","authors_text":"Alexander Albers, Hauke Thomsen, J. Marius Z\\\"ollner, Karam Daaboul, Karl Kurzer, Philip Sch\\\"orner","submitted_at":"2021-02-12T20:37:29Z","abstract_excerpt":"Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training data or are not capable to consider a variable number of traffic participants. Therefore we propose an invariant environment representation from the perspective of the ego vehicle. The representation encodes all necessary information for safe decision making. To assess the generalization capabilities of the novel environment representation, we train our agen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.06765","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/2102.06765/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":"2026-07-05T04:03:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Js+kCtjA5nIlfZY9v5O+AAr0hxpONh4dtpiwEgRSHUjNalwaYG7uFBjxZtRS/iY3cfHf0cClvkw6P8h+iIHvDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T13:38:49.191553Z"},"content_sha256":"b0452c94a2368e2663d6644c4089abd28819349d9705f029e01ae10e04e5a6fb","schema_version":"1.0","event_id":"sha256:b0452c94a2368e2663d6644c4089abd28819349d9705f029e01ae10e04e5a6fb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/bundle.json","state_url":"https://pith.science/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/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":"2026-08-10T13:38:49Z","links":{"resolver":"https://pith.science/pith/EJBQTRVRISZDJOZYH6H4NKXFE6","bundle":"https://pith.science/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/bundle.json","state":"https://pith.science/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EJBQTRVRISZDJOZYH6H4NKXFE6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:EJBQTRVRISZDJOZYH6H4NKXFE6","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":"b4fa130d08864ab77b22f76045b57952ac8ac43d6d085596563c45e626584c10","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-12T20:37:29Z","title_canon_sha256":"1e016341a96c605a572fddd771d8b53af558ef92bb50e93f5919da2f879a4ca1"},"schema_version":"1.0","source":{"id":"2102.06765","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.06765","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"arxiv_version","alias_value":"2102.06765v2","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.06765","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_12","alias_value":"EJBQTRVRISZD","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_16","alias_value":"EJBQTRVRISZDJOZY","created_at":"2026-07-05T04:03:36Z"},{"alias_kind":"pith_short_8","alias_value":"EJBQTRVR","created_at":"2026-07-05T04:03:36Z"}],"graph_snapshots":[{"event_id":"sha256:b0452c94a2368e2663d6644c4089abd28819349d9705f029e01ae10e04e5a6fb","target":"graph","created_at":"2026-07-05T04:03:36Z","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/2102.06765/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training data or are not capable to consider a variable number of traffic participants. Therefore we propose an invariant environment representation from the perspective of the ego vehicle. The representation encodes all necessary information for safe decision making. To assess the generalization capabilities of the novel environment representation, we train our agen","authors_text":"Alexander Albers, Hauke Thomsen, J. Marius Z\\\"ollner, Karam Daaboul, Karl Kurzer, Philip Sch\\\"orner","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-12T20:37:29Z","title":"Generalizing Decision Making for Automated Driving with an Invariant Environment Representation using Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.06765","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:e6c3f2871b6c488ca35a72fae6ff3ae98818d2897feb0169433c99eafa45337b","target":"record","created_at":"2026-07-05T04:03:36Z","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":"b4fa130d08864ab77b22f76045b57952ac8ac43d6d085596563c45e626584c10","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-12T20:37:29Z","title_canon_sha256":"1e016341a96c605a572fddd771d8b53af558ef92bb50e93f5919da2f879a4ca1"},"schema_version":"1.0","source":{"id":"2102.06765","kind":"arxiv","version":2}},"canonical_sha256":"224309c6b144b234bb383f8fc6aae527babd6d548cfa83c7a1f2f2ed93672601","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"224309c6b144b234bb383f8fc6aae527babd6d548cfa83c7a1f2f2ed93672601","first_computed_at":"2026-07-05T04:03:36.069406Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:03:36.069406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aFbo66i2znGtALPX60xS5A0JOz21oGrRwy/bFnQUx8CTtcMtgPzga7+R6ojdHBpBna1bYeONriCnLduawjQGCg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:03:36.069859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.06765","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e6c3f2871b6c488ca35a72fae6ff3ae98818d2897feb0169433c99eafa45337b","sha256:b0452c94a2368e2663d6644c4089abd28819349d9705f029e01ae10e04e5a6fb"],"state_sha256":"06b078c0fbea0a0e7c20adcfd83e19bcae1a54d02caa7f8f0d3144a323a277f6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DTLM4yZG7rzlO0SXI1DvaBMFBpc00YXehw2hdzKz5enmMJ1AVMY7xUAkSoglaskFI2kNKGWFFjj9CPWm30JuDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T13:38:49.197369Z","bundle_sha256":"3cbe221e394460079a8672b510c7d2f80e9b7917918908c794a3992675a00162"}}