{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:FGAYBBHGD2C75GA37OWQVLZWTD","short_pith_number":"pith:FGAYBBHG","canonical_record":{"source":{"id":"2108.08265","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-18T17:36:51Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"49ec29344577de06a275fe3eec2b9088a688909560dc9347e83192ea0a961422","abstract_canon_sha256":"133dcc1ae26d5dbece751b7d59f0369a2ae4df001fa089c90852bbee9d9345a1"},"schema_version":"1.0"},"canonical_sha256":"29818084e61e85fe981bfbad0aaf3698f92903a38b85af603cc771a0ad336aa3","source":{"kind":"arxiv","id":"2108.08265","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.08265","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"arxiv_version","alias_value":"2108.08265v3","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.08265","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_12","alias_value":"FGAYBBHGD2C7","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_16","alias_value":"FGAYBBHGD2C75GA3","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_8","alias_value":"FGAYBBHG","created_at":"2026-07-05T03:20:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:FGAYBBHGD2C75GA37OWQVLZWTD","target":"record","payload":{"canonical_record":{"source":{"id":"2108.08265","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-18T17:36:51Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"49ec29344577de06a275fe3eec2b9088a688909560dc9347e83192ea0a961422","abstract_canon_sha256":"133dcc1ae26d5dbece751b7d59f0369a2ae4df001fa089c90852bbee9d9345a1"},"schema_version":"1.0"},"canonical_sha256":"29818084e61e85fe981bfbad0aaf3698f92903a38b85af603cc771a0ad336aa3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:20:03.351335Z","signature_b64":"GZYkUm6MUTjtF/0NW+jQrJSQx21P2aezCJ6x07BuY6P6tnS6hTa03uxTx4FVqxNW7cCNJ43l2cvhyZucgao9CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"29818084e61e85fe981bfbad0aaf3698f92903a38b85af603cc771a0ad336aa3","last_reissued_at":"2026-07-05T03:20:03.350837Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:20:03.350837Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.08265","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:20:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n1uQUOygptPrdtjPArodSsTVOjKRXY8aQHVFk2phPDXmwCworM5BsJu/EGRzrTd3mxP4VY26x9BfHonbhd8ABg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T18:49:47.669843Z"},"content_sha256":"80097640d6429552a3d8a7841fe1a2a76e4da4b88117d387cc91b5b2168d738a","schema_version":"1.0","event_id":"sha256:80097640d6429552a3d8a7841fe1a2a76e4da4b88117d387cc91b5b2168d738a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:FGAYBBHGD2C75GA37OWQVLZWTD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"End-to-End Urban Driving by Imitating a Reinforcement Learning Coach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Alexander Liniger, Dengxin Dai, Fisher Yu, Luc Van Gool, Zhejun Zhang","submitted_at":"2021-08-18T17:36:51Z","abstract_excerpt":"End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated experts that leverage privileged information can efficiently generate large scale on-policy and off-policy demonstrations. However, existing automated experts for urban driving make heavy use of hand-crafted rules and perform suboptimally even on driving simulators, where ground-truth information is available. To address these issues, we train a reinforcement "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.08265","kind":"arxiv","version":3},"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/2108.08265/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":"2026-07-05T03:20:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qjzb4nWhTNYL9QaooII3xAYsHV2eiSa50DRY35ccvbpOdSw6pNKW6JvuROIq9fZTtku8wH9TmDNvaK/R09NeAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T18:49:47.670365Z"},"content_sha256":"d87c008722ed76f07ba0a24d6f04aac1ed9331cbdf31515ccfcf6c8e71285169","schema_version":"1.0","event_id":"sha256:d87c008722ed76f07ba0a24d6f04aac1ed9331cbdf31515ccfcf6c8e71285169"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FGAYBBHGD2C75GA37OWQVLZWTD/bundle.json","state_url":"https://pith.science/pith/FGAYBBHGD2C75GA37OWQVLZWTD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FGAYBBHGD2C75GA37OWQVLZWTD/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":"2026-08-05T18:49:47Z","links":{"resolver":"https://pith.science/pith/FGAYBBHGD2C75GA37OWQVLZWTD","bundle":"https://pith.science/pith/FGAYBBHGD2C75GA37OWQVLZWTD/bundle.json","state":"https://pith.science/pith/FGAYBBHGD2C75GA37OWQVLZWTD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FGAYBBHGD2C75GA37OWQVLZWTD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:FGAYBBHGD2C75GA37OWQVLZWTD","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":"133dcc1ae26d5dbece751b7d59f0369a2ae4df001fa089c90852bbee9d9345a1","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-18T17:36:51Z","title_canon_sha256":"49ec29344577de06a275fe3eec2b9088a688909560dc9347e83192ea0a961422"},"schema_version":"1.0","source":{"id":"2108.08265","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.08265","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"arxiv_version","alias_value":"2108.08265v3","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.08265","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_12","alias_value":"FGAYBBHGD2C7","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_16","alias_value":"FGAYBBHGD2C75GA3","created_at":"2026-07-05T03:20:03Z"},{"alias_kind":"pith_short_8","alias_value":"FGAYBBHG","created_at":"2026-07-05T03:20:03Z"}],"graph_snapshots":[{"event_id":"sha256:d87c008722ed76f07ba0a24d6f04aac1ed9331cbdf31515ccfcf6c8e71285169","target":"graph","created_at":"2026-07-05T03:20:03Z","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/2108.08265/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated experts that leverage privileged information can efficiently generate large scale on-policy and off-policy demonstrations. However, existing automated experts for urban driving make heavy use of hand-crafted rules and perform suboptimally even on driving simulators, where ground-truth information is available. To address these issues, we train a reinforcement ","authors_text":"Alexander Liniger, Dengxin Dai, Fisher Yu, Luc Van Gool, Zhejun Zhang","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-18T17:36:51Z","title":"End-to-End Urban Driving by Imitating a Reinforcement Learning Coach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.08265","kind":"arxiv","version":3},"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":"sha256:80097640d6429552a3d8a7841fe1a2a76e4da4b88117d387cc91b5b2168d738a","target":"record","created_at":"2026-07-05T03:20:03Z","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":"133dcc1ae26d5dbece751b7d59f0369a2ae4df001fa089c90852bbee9d9345a1","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-08-18T17:36:51Z","title_canon_sha256":"49ec29344577de06a275fe3eec2b9088a688909560dc9347e83192ea0a961422"},"schema_version":"1.0","source":{"id":"2108.08265","kind":"arxiv","version":3}},"canonical_sha256":"29818084e61e85fe981bfbad0aaf3698f92903a38b85af603cc771a0ad336aa3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"29818084e61e85fe981bfbad0aaf3698f92903a38b85af603cc771a0ad336aa3","first_computed_at":"2026-07-05T03:20:03.350837Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:20:03.350837Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GZYkUm6MUTjtF/0NW+jQrJSQx21P2aezCJ6x07BuY6P6tnS6hTa03uxTx4FVqxNW7cCNJ43l2cvhyZucgao9CA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:20:03.351335Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.08265","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:80097640d6429552a3d8a7841fe1a2a76e4da4b88117d387cc91b5b2168d738a","sha256:d87c008722ed76f07ba0a24d6f04aac1ed9331cbdf31515ccfcf6c8e71285169"],"state_sha256":"94a9601349ed5af3b4ed024a41a32a432fcb1295b6be3c6570caa759cfccda32"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Uf7/hOyhC699WA3/hBcApCgpByv+hXsEy1abQK+qoMYSXWQHPZyzrzDYK4C+Oo+N4wzMo6QSgnHq7JrBjMviDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T18:49:47.680446Z","bundle_sha256":"47e343dde2e95cdd09dd60dc94a714b26e5bedfbf2c3cc17a8de41ca9a2a3d06"}}