{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:G4AJWDTUJ4DNTKOSB6N3NP6A6P","short_pith_number":"pith:G4AJWDTU","canonical_record":{"source":{"id":"2406.03474","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-05T17:25:46Z","cross_cats_sorted":[],"title_canon_sha256":"aa3b65be06131b2df026e53583d1f72f97654f00530d88900eb79ce8ab4861b0","abstract_canon_sha256":"356e56f7a59e796df97e53869284124e96102d98c87b77bf08faee1775722016"},"schema_version":"1.0"},"canonical_sha256":"37009b0e744f06d9a9d20f9bb6bfc0f3f42055bdc728a3d46293d39c4d2b3368","source":{"kind":"arxiv","id":"2406.03474","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.03474","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"arxiv_version","alias_value":"2406.03474v2","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.03474","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_12","alias_value":"G4AJWDTUJ4DN","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_16","alias_value":"G4AJWDTUJ4DNTKOS","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_8","alias_value":"G4AJWDTU","created_at":"2026-05-27T01:04:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:G4AJWDTUJ4DNTKOSB6N3NP6A6P","target":"record","payload":{"canonical_record":{"source":{"id":"2406.03474","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-05T17:25:46Z","cross_cats_sorted":[],"title_canon_sha256":"aa3b65be06131b2df026e53583d1f72f97654f00530d88900eb79ce8ab4861b0","abstract_canon_sha256":"356e56f7a59e796df97e53869284124e96102d98c87b77bf08faee1775722016"},"schema_version":"1.0"},"canonical_sha256":"37009b0e744f06d9a9d20f9bb6bfc0f3f42055bdc728a3d46293d39c4d2b3368","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-27T01:04:46.930304Z","signature_b64":"RGbRYXzAFtlGRGA1PJSyB3Xv9Fs9TDkBS2zN8idOX4yaKq93d2tlSTnbuEcqhn3GVmeTHvSJMULzQnkXb5vbBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"37009b0e744f06d9a9d20f9bb6bfc0f3f42055bdc728a3d46293d39c4d2b3368","last_reissued_at":"2026-05-27T01:04:46.929583Z","signature_status":"signed_v1","first_computed_at":"2026-05-27T01:04:46.929583Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.03474","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":"2026-05-27T01:04:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J//8sztGCe7wQcC+2XqSWzTGVPNIa3UgfbrrqOcCFokfbYqwS/huvkR+CzbybyKVioMGXQW//247XarGob8KDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T23:19:41.834941Z"},"content_sha256":"efec5398b50928fcb0706d61f09a61bcc2fbb46089da047505cb386d7580b7ef","schema_version":"1.0","event_id":"sha256:efec5398b50928fcb0706d61f09a61bcc2fbb46089da047505cb386d7580b7ef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:G4AJWDTUJ4DNTKOSB6N3NP6A6P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AD-H: Language-guided Autonomous Driving with Hierarchical Agents","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Huchuan Lu, Lijun Wang, Shiyu Tang, Talas Fu, Yifan Wang, Yuanhang Zhang, Zaibin Zhang","submitted_at":"2024-06-05T17:25:46Z","abstract_excerpt":"Language-guided autonomous driving requires bridging a large abstraction gap between high-level natural-language instructions and low-level vehicle control. End-to-end approaches that use a single multimodal large language model (MLLM) to map language directly to actions struggle with this mismatch, often failing to exploit the reasoning capabilities of the model and exhibiting limited generalization beyond the distributions of driving datasets used for fine-tuning. To address this issue, we propose AD-H, a hierarchical multi-agent framework that explicitly separates high-level decision-making"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.03474","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/2406.03474/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":"2026-05-27T01:04:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0kfbcYqzxvGBvNGc99BxDO8shgCHfUPmIX0/BmY2hwLounhkqjY0isefsUi2v2I2MgrCA7mChs0v5gdThqJMDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T23:19:41.835660Z"},"content_sha256":"d4928f4b2ee3be45aaa328caceb4a02106799b78fb305317bd691af1fa8fef02","schema_version":"1.0","event_id":"sha256:d4928f4b2ee3be45aaa328caceb4a02106799b78fb305317bd691af1fa8fef02"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/bundle.json","state_url":"https://pith.science/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/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":"2026-05-27T23:19:41Z","links":{"resolver":"https://pith.science/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P","bundle":"https://pith.science/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/bundle.json","state":"https://pith.science/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/G4AJWDTUJ4DNTKOSB6N3NP6A6P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:G4AJWDTUJ4DNTKOSB6N3NP6A6P","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":"356e56f7a59e796df97e53869284124e96102d98c87b77bf08faee1775722016","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-05T17:25:46Z","title_canon_sha256":"aa3b65be06131b2df026e53583d1f72f97654f00530d88900eb79ce8ab4861b0"},"schema_version":"1.0","source":{"id":"2406.03474","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.03474","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"arxiv_version","alias_value":"2406.03474v2","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.03474","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_12","alias_value":"G4AJWDTUJ4DN","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_16","alias_value":"G4AJWDTUJ4DNTKOS","created_at":"2026-05-27T01:04:46Z"},{"alias_kind":"pith_short_8","alias_value":"G4AJWDTU","created_at":"2026-05-27T01:04:46Z"}],"graph_snapshots":[{"event_id":"sha256:d4928f4b2ee3be45aaa328caceb4a02106799b78fb305317bd691af1fa8fef02","target":"graph","created_at":"2026-05-27T01:04:46Z","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/2406.03474/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Language-guided autonomous driving requires bridging a large abstraction gap between high-level natural-language instructions and low-level vehicle control. End-to-end approaches that use a single multimodal large language model (MLLM) to map language directly to actions struggle with this mismatch, often failing to exploit the reasoning capabilities of the model and exhibiting limited generalization beyond the distributions of driving datasets used for fine-tuning. To address this issue, we propose AD-H, a hierarchical multi-agent framework that explicitly separates high-level decision-making","authors_text":"Huchuan Lu, Lijun Wang, Shiyu Tang, Talas Fu, Yifan Wang, Yuanhang Zhang, Zaibin Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-05T17:25:46Z","title":"AD-H: Language-guided Autonomous Driving with Hierarchical Agents"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.03474","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:efec5398b50928fcb0706d61f09a61bcc2fbb46089da047505cb386d7580b7ef","target":"record","created_at":"2026-05-27T01:04:46Z","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":"356e56f7a59e796df97e53869284124e96102d98c87b77bf08faee1775722016","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2024-06-05T17:25:46Z","title_canon_sha256":"aa3b65be06131b2df026e53583d1f72f97654f00530d88900eb79ce8ab4861b0"},"schema_version":"1.0","source":{"id":"2406.03474","kind":"arxiv","version":2}},"canonical_sha256":"37009b0e744f06d9a9d20f9bb6bfc0f3f42055bdc728a3d46293d39c4d2b3368","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"37009b0e744f06d9a9d20f9bb6bfc0f3f42055bdc728a3d46293d39c4d2b3368","first_computed_at":"2026-05-27T01:04:46.929583Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-27T01:04:46.929583Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RGbRYXzAFtlGRGA1PJSyB3Xv9Fs9TDkBS2zN8idOX4yaKq93d2tlSTnbuEcqhn3GVmeTHvSJMULzQnkXb5vbBw==","signature_status":"signed_v1","signed_at":"2026-05-27T01:04:46.930304Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.03474","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:efec5398b50928fcb0706d61f09a61bcc2fbb46089da047505cb386d7580b7ef","sha256:d4928f4b2ee3be45aaa328caceb4a02106799b78fb305317bd691af1fa8fef02"],"state_sha256":"24a6796fd940729a949552a27bcab53f99d98acb9f69c56f2fecb97856754234"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2CFHqOr4m1Rn6Ai9plOyAjUSX1e3miLvprNoKggi0xDQjKKf8leGaPQ+zNBqjKkyxSghqwVOM6nLlmrV+jVlDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T23:19:41.839226Z","bundle_sha256":"5d39597820993154aa462c4f9f1197c1ea57e496c3c38ec88ee15db204ad0eb7"}}