Pith Number

pith:F2CJ4HQJ

pith:2022:F2CJ4HQJJJDCGMDICBV4UTLZWT

not attested not anchored not stored refs pending

Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving

Alex Kuefler, Austin Abrams, Benjamin Frenkel, Brandyn White, Dominik Notz, Dragomir Anguelov, Eli Bronstein, Evan Racah, Hongge Chen, Justin Fu, Mark Palatucci, Paul Mougin, Payam Nikdel, Punit Shah, Shimon Whiteson, Supratik Paul, Yiren Lu

arxiv:2210.09539 v1 · 2022-10-18 · cs.RO · cs.AI · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{F2CJ4HQJJJDCGMDICBV4UTLZWT}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T05:21:44.058678Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2e849e1e094a46233068106bca4d79b4cd70e205d095854acf880d125b814420

Aliases

arxiv: 2210.09539 · arxiv_version: 2210.09539v1 · doi: 10.48550/arxiv.2210.09539 · pith_short_12: F2CJ4HQJJJDC · pith_short_16: F2CJ4HQJJJDCGMDI · pith_short_8: F2CJ4HQJ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/F2CJ4HQJJJDCGMDICBV4UTLZWT \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 2e849e1e094a46233068106bca4d79b4cd70e205d095854acf880d125b814420

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ddb14325444d7cb31895a86eee9261206824058787a3ba9efcc2d0a55a85ff65",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-18T02:15:34Z",
    "title_canon_sha256": "a02638ef3ebed5568331054621b8aa9ed96e39f4eca5dc47ad832c8c975dd65d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.09539",
    "kind": "arxiv",
    "version": 1
  }
}