{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:FKSBRMM4BP3WCGG5BNOQP55YNF","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":"bacf1ccaacfa32b80c0f2451b058c9ea410314eec26eab2144eaa752a368abaf","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-24T11:51:17Z","title_canon_sha256":"a41f5451f589224ea2d4d0b080906047dbf9d376d93e882992d8b7614b883e2d"},"schema_version":"1.0","source":{"id":"2309.13614","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.13614","created_at":"2026-07-05T07:13:44Z"},{"alias_kind":"arxiv_version","alias_value":"2309.13614v2","created_at":"2026-07-05T07:13:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.13614","created_at":"2026-07-05T07:13:44Z"},{"alias_kind":"pith_short_12","alias_value":"FKSBRMM4BP3W","created_at":"2026-07-05T07:13:44Z"},{"alias_kind":"pith_short_16","alias_value":"FKSBRMM4BP3WCGG5","created_at":"2026-07-05T07:13:44Z"},{"alias_kind":"pith_short_8","alias_value":"FKSBRMM4","created_at":"2026-07-05T07:13:44Z"}],"graph_snapshots":[{"event_id":"sha256:be2b2932d922e9ad1070700f13f09d3f7a36a7feafef94d267cc823364c6361a","target":"graph","created_at":"2026-07-05T07:13:44Z","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/2309.13614/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning-based vehicle planning is receiving increasing attention with the emergence of diverse driving simulators and large-scale driving datasets. While offline reinforcement learning (RL) is well suited for these safety-critical tasks, it still struggles to plan over extended periods. In this work, we present a skill-based framework that enhances offline RL to overcome the long-horizon vehicle planning challenge. Specifically, we design a variational autoencoder (VAE) to learn skills from offline demonstrations. To mitigate posterior collapse of common VAEs, we introduce a two-branch sequen","authors_text":"Fang Da, Fan Nie, Hang Zhao, Qiao Sun, Zenan Li","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-24T11:51:17Z","title":"Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skills"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.13614","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":"sha256:3747c2cfabcf1beb65e7583e6e304e9af78ad33b0e1050dbca34af2d9bd2aaba","target":"record","created_at":"2026-07-05T07:13:44Z","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":"bacf1ccaacfa32b80c0f2451b058c9ea410314eec26eab2144eaa752a368abaf","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-24T11:51:17Z","title_canon_sha256":"a41f5451f589224ea2d4d0b080906047dbf9d376d93e882992d8b7614b883e2d"},"schema_version":"1.0","source":{"id":"2309.13614","kind":"arxiv","version":2}},"canonical_sha256":"2aa418b19c0bf76118dd0b5d07f7b869437f38f2b1accd668e3f7f9d8b69f1b7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2aa418b19c0bf76118dd0b5d07f7b869437f38f2b1accd668e3f7f9d8b69f1b7","first_computed_at":"2026-07-05T07:13:44.746052Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:13:44.746052Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VZCof1p9OIYcWVOTWg7zMCbVMGgiHoV1xWoNvmV4jvhcKpqCBsA8Rg8calNfd9E9LZBS+DdO/XiBayXvcsrnBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:13:44.746507Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.13614","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3747c2cfabcf1beb65e7583e6e304e9af78ad33b0e1050dbca34af2d9bd2aaba","sha256:be2b2932d922e9ad1070700f13f09d3f7a36a7feafef94d267cc823364c6361a"],"state_sha256":"9cb7482f9c7d85430eca279b1ace9d55922deac95b9dc677565cb519a2631c50"}