{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:IGUBAFTQXYLZ64K73J3XQ7C2YU","short_pith_number":"pith:IGUBAFTQ","canonical_record":{"source":{"id":"2004.10927","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-04-23T01:44:12Z","cross_cats_sorted":["cs.LG","cs.RO","eess.SP"],"title_canon_sha256":"633fdd73874e1ce0e9df42d586c17b86f46321dd898e983b4c19377337019c03","abstract_canon_sha256":"bca36dd285d3b26f3979e8f610e757f708249991c1c52524246ca1621f7e5999"},"schema_version":"1.0"},"canonical_sha256":"41a8101670be179f715fda77787c5ac5330ad03c19231d485cbdc40e8b4ea546","source":{"kind":"arxiv","id":"2004.10927","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.10927","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"arxiv_version","alias_value":"2004.10927v1","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.10927","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_12","alias_value":"IGUBAFTQXYLZ","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_16","alias_value":"IGUBAFTQXYLZ64K7","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_8","alias_value":"IGUBAFTQ","created_at":"2026-07-05T00:57:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:IGUBAFTQXYLZ64K73J3XQ7C2YU","target":"record","payload":{"canonical_record":{"source":{"id":"2004.10927","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-04-23T01:44:12Z","cross_cats_sorted":["cs.LG","cs.RO","eess.SP"],"title_canon_sha256":"633fdd73874e1ce0e9df42d586c17b86f46321dd898e983b4c19377337019c03","abstract_canon_sha256":"bca36dd285d3b26f3979e8f610e757f708249991c1c52524246ca1621f7e5999"},"schema_version":"1.0"},"canonical_sha256":"41a8101670be179f715fda77787c5ac5330ad03c19231d485cbdc40e8b4ea546","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:57:37.420344Z","signature_b64":"SNkcO/TbCbN46bDI7pvLeULqmP/84gIY5vwUB9AgfYv9V7wtlCDbGc0ZtPkmkIPHQAoh8FGt/kxXdtbb/8raCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"41a8101670be179f715fda77787c5ac5330ad03c19231d485cbdc40e8b4ea546","last_reissued_at":"2026-07-05T00:57:37.419736Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:57:37.419736Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.10927","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:57:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fw04wDwKdCcbmUcJAppcZ5g/HkzK43G0NYgqiyHsVKopedW5x2ouDhL7Bl47h1mFQgmgwBNhMivkGHGJbk5lAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T16:08:44.058468Z"},"content_sha256":"5fc0ae2c63c9ea792f4db3cbd3ccaed37d0c40559a1552948f6da5d476fc5f02","schema_version":"1.0","event_id":"sha256:5fc0ae2c63c9ea792f4db3cbd3ccaed37d0c40559a1552948f6da5d476fc5f02"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:IGUBAFTQXYLZ64K73J3XQ7C2YU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cooperative Perception with Deep Reinforcement Learning for Connected Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO","eess.SP"],"primary_cat":"cs.AI","authors_text":"Onur Altintas, Shunsuke Aoki, Takamasa Higuchi","submitted_at":"2020-04-23T01:44:12Z","abstract_excerpt":"Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the driver. However, the environmental perception by individual vehicles has the limitations on coverage and/or detection accuracy. For example, a vehicle cannot detect objects occluded by other moving/static obstacles. In this paper, we present a cooperative perception scheme with deep reinforcement learning to enhance the detection accuracy for the surrounding"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.10927","kind":"arxiv","version":1},"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/2004.10927/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":"2026-07-05T00:57:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D0sRcKStuuJLIpg8vP3lZTjZFbKgDvUZZtwUGK0K6CUVY6FFPURKNXwNXpHcy/0NpA2Ia33o8360JHFsLOtvBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T16:08:44.058976Z"},"content_sha256":"0d78c2eedd995999f1438ca4ada8f136cea60b8e6cc6ecb3f84c2b407aab1cd0","schema_version":"1.0","event_id":"sha256:0d78c2eedd995999f1438ca4ada8f136cea60b8e6cc6ecb3f84c2b407aab1cd0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/bundle.json","state_url":"https://pith.science/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/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":"2026-08-13T16:08:44Z","links":{"resolver":"https://pith.science/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU","bundle":"https://pith.science/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/bundle.json","state":"https://pith.science/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IGUBAFTQXYLZ64K73J3XQ7C2YU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:IGUBAFTQXYLZ64K73J3XQ7C2YU","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":"bca36dd285d3b26f3979e8f610e757f708249991c1c52524246ca1621f7e5999","cross_cats_sorted":["cs.LG","cs.RO","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-04-23T01:44:12Z","title_canon_sha256":"633fdd73874e1ce0e9df42d586c17b86f46321dd898e983b4c19377337019c03"},"schema_version":"1.0","source":{"id":"2004.10927","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.10927","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"arxiv_version","alias_value":"2004.10927v1","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.10927","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_12","alias_value":"IGUBAFTQXYLZ","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_16","alias_value":"IGUBAFTQXYLZ64K7","created_at":"2026-07-05T00:57:37Z"},{"alias_kind":"pith_short_8","alias_value":"IGUBAFTQ","created_at":"2026-07-05T00:57:37Z"}],"graph_snapshots":[{"event_id":"sha256:0d78c2eedd995999f1438ca4ada8f136cea60b8e6cc6ecb3f84c2b407aab1cd0","target":"graph","created_at":"2026-07-05T00:57:37Z","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/2004.10927/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the driver. However, the environmental perception by individual vehicles has the limitations on coverage and/or detection accuracy. For example, a vehicle cannot detect objects occluded by other moving/static obstacles. In this paper, we present a cooperative perception scheme with deep reinforcement learning to enhance the detection accuracy for the surrounding","authors_text":"Onur Altintas, Shunsuke Aoki, Takamasa Higuchi","cross_cats":["cs.LG","cs.RO","eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-04-23T01:44:12Z","title":"Cooperative Perception with Deep Reinforcement Learning for Connected Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.10927","kind":"arxiv","version":1},"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":"sha256:5fc0ae2c63c9ea792f4db3cbd3ccaed37d0c40559a1552948f6da5d476fc5f02","target":"record","created_at":"2026-07-05T00:57:37Z","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":"bca36dd285d3b26f3979e8f610e757f708249991c1c52524246ca1621f7e5999","cross_cats_sorted":["cs.LG","cs.RO","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-04-23T01:44:12Z","title_canon_sha256":"633fdd73874e1ce0e9df42d586c17b86f46321dd898e983b4c19377337019c03"},"schema_version":"1.0","source":{"id":"2004.10927","kind":"arxiv","version":1}},"canonical_sha256":"41a8101670be179f715fda77787c5ac5330ad03c19231d485cbdc40e8b4ea546","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"41a8101670be179f715fda77787c5ac5330ad03c19231d485cbdc40e8b4ea546","first_computed_at":"2026-07-05T00:57:37.419736Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:57:37.419736Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SNkcO/TbCbN46bDI7pvLeULqmP/84gIY5vwUB9AgfYv9V7wtlCDbGc0ZtPkmkIPHQAoh8FGt/kxXdtbb/8raCg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:57:37.420344Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.10927","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5fc0ae2c63c9ea792f4db3cbd3ccaed37d0c40559a1552948f6da5d476fc5f02","sha256:0d78c2eedd995999f1438ca4ada8f136cea60b8e6cc6ecb3f84c2b407aab1cd0"],"state_sha256":"1976354d34e3e2c091b03ef520808f9a3c68491def5490ac326994bcd2246b77"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wVUcX26u22U/cQP6qj1/4p0ZwXC33fiwZPwsxrHkf/uU7CtMfuo54X4GoF58f9pjdSTrDXuj3jKht33q3VAXAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T16:08:44.111665Z","bundle_sha256":"38f7cd11f5984748cf5380cd182b52bed9e4f6cdaed8f3bd96356383d4f86c9d"}}