{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:JJORUEHJXSLDER6QD556ISCACE","short_pith_number":"pith:JJORUEHJ","canonical_record":{"source":{"id":"2503.11359","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-03-14T12:53:05Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2ba0716f26faa33292fe4371f5a74ee8b7377e393258c42aa9f9d3af2ace3eb2","abstract_canon_sha256":"18309698d25819ebf0312fa6c6e175f34a1a18de930fb129f55be3457823faf1"},"schema_version":"1.0"},"canonical_sha256":"4a5d1a10e9bc963247d01f7be448401102ad6a765e2d0bb36c878f68be68f0bc","source":{"kind":"arxiv","id":"2503.11359","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.11359","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"arxiv_version","alias_value":"2503.11359v3","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.11359","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_12","alias_value":"JJORUEHJXSLD","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_16","alias_value":"JJORUEHJXSLDER6Q","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_8","alias_value":"JJORUEHJ","created_at":"2026-07-05T11:10:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:JJORUEHJXSLDER6QD556ISCACE","target":"record","payload":{"canonical_record":{"source":{"id":"2503.11359","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-03-14T12:53:05Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2ba0716f26faa33292fe4371f5a74ee8b7377e393258c42aa9f9d3af2ace3eb2","abstract_canon_sha256":"18309698d25819ebf0312fa6c6e175f34a1a18de930fb129f55be3457823faf1"},"schema_version":"1.0"},"canonical_sha256":"4a5d1a10e9bc963247d01f7be448401102ad6a765e2d0bb36c878f68be68f0bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:10:54.375800Z","signature_b64":"IVb6x1XckO+ru1dAjJ5RbRgP0ic0oZd45KSJQJXX1Z6kOX58DpqZDIT2Z+E4BlzwJHjWdEvsAVk8h+Csiu0kDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4a5d1a10e9bc963247d01f7be448401102ad6a765e2d0bb36c878f68be68f0bc","last_reissued_at":"2026-07-05T11:10:54.375256Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:10:54.375256Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.11359","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":"2026-07-05T11:10:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bk/99BT+HS380Ye1Xn8ztnw5bjPt+omFE1a1gD1SUBdH8CQQio7RVIwhMx9BNygWmANf68ZIFaKpOuIO++fWAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T15:23:23.633921Z"},"content_sha256":"9b5b93206fc66100ea050d5c525fb8c6414539d2755e5ed9794e17d8bba0b0ad","schema_version":"1.0","event_id":"sha256:9b5b93206fc66100ea050d5c525fb8c6414539d2755e5ed9794e17d8bba0b0ad"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:JJORUEHJXSLDER6QD556ISCACE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Azita Dabiri, Bart De Schutter, Gianpietro Battocletti, Qizhang Dong, Samuel Mallick","submitted_at":"2025-03-14T12:53:05Z","abstract_excerpt":"Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear positions may be too computationally intensive for a real-time implementation. This work proposes a learning-based MPC scheme to address this issue. A policy is trained to select and fix the gear positions across the prediction horizon of the MPC controller, leaving a significantly simpler continuous optimization problem to be solved online. In simulation, t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.11359","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/2503.11359/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":"2026-07-05T11:10:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kd0SN3hd1BHRbv6y0Yh3+oO69LioLVhkZQCqGhhr/I5/fPkkNy12mgvEPv+i2teGxUMCTQpzU/OwVmlX9xYxCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T15:23:23.634434Z"},"content_sha256":"59fc20e1c414a6ca3d14faed435322573425acfe66f8ba4ff67a56e27a3f41aa","schema_version":"1.0","event_id":"sha256:59fc20e1c414a6ca3d14faed435322573425acfe66f8ba4ff67a56e27a3f41aa"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JJORUEHJXSLDER6QD556ISCACE/bundle.json","state_url":"https://pith.science/pith/JJORUEHJXSLDER6QD556ISCACE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JJORUEHJXSLDER6QD556ISCACE/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":"2026-08-05T15:23:23Z","links":{"resolver":"https://pith.science/pith/JJORUEHJXSLDER6QD556ISCACE","bundle":"https://pith.science/pith/JJORUEHJXSLDER6QD556ISCACE/bundle.json","state":"https://pith.science/pith/JJORUEHJXSLDER6QD556ISCACE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JJORUEHJXSLDER6QD556ISCACE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:JJORUEHJXSLDER6QD556ISCACE","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":"18309698d25819ebf0312fa6c6e175f34a1a18de930fb129f55be3457823faf1","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-03-14T12:53:05Z","title_canon_sha256":"2ba0716f26faa33292fe4371f5a74ee8b7377e393258c42aa9f9d3af2ace3eb2"},"schema_version":"1.0","source":{"id":"2503.11359","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.11359","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"arxiv_version","alias_value":"2503.11359v3","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.11359","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_12","alias_value":"JJORUEHJXSLD","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_16","alias_value":"JJORUEHJXSLDER6Q","created_at":"2026-07-05T11:10:54Z"},{"alias_kind":"pith_short_8","alias_value":"JJORUEHJ","created_at":"2026-07-05T11:10:54Z"}],"graph_snapshots":[{"event_id":"sha256:59fc20e1c414a6ca3d14faed435322573425acfe66f8ba4ff67a56e27a3f41aa","target":"graph","created_at":"2026-07-05T11:10:54Z","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/2503.11359/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear positions may be too computationally intensive for a real-time implementation. This work proposes a learning-based MPC scheme to address this issue. A policy is trained to select and fix the gear positions across the prediction horizon of the MPC controller, leaving a significantly simpler continuous optimization problem to be solved online. In simulation, t","authors_text":"Azita Dabiri, Bart De Schutter, Gianpietro Battocletti, Qizhang Dong, Samuel Mallick","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-03-14T12:53:05Z","title":"Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.11359","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":"sha256:9b5b93206fc66100ea050d5c525fb8c6414539d2755e5ed9794e17d8bba0b0ad","target":"record","created_at":"2026-07-05T11:10:54Z","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":"18309698d25819ebf0312fa6c6e175f34a1a18de930fb129f55be3457823faf1","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-03-14T12:53:05Z","title_canon_sha256":"2ba0716f26faa33292fe4371f5a74ee8b7377e393258c42aa9f9d3af2ace3eb2"},"schema_version":"1.0","source":{"id":"2503.11359","kind":"arxiv","version":3}},"canonical_sha256":"4a5d1a10e9bc963247d01f7be448401102ad6a765e2d0bb36c878f68be68f0bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4a5d1a10e9bc963247d01f7be448401102ad6a765e2d0bb36c878f68be68f0bc","first_computed_at":"2026-07-05T11:10:54.375256Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:10:54.375256Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IVb6x1XckO+ru1dAjJ5RbRgP0ic0oZd45KSJQJXX1Z6kOX58DpqZDIT2Z+E4BlzwJHjWdEvsAVk8h+Csiu0kDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:10:54.375800Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.11359","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b5b93206fc66100ea050d5c525fb8c6414539d2755e5ed9794e17d8bba0b0ad","sha256:59fc20e1c414a6ca3d14faed435322573425acfe66f8ba4ff67a56e27a3f41aa"],"state_sha256":"755ddd257e68bc663f73afb785cb34d498829f54e9f6eb4ad144407c192da8d7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rCblEM8AvzB5uFE9LOSBr2VLp2Jb4D4EuL6sCOzhiaiUqryx2U+BsRmcTH2LQtrR/BdbVzJtI/lJYie4JHbcAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T15:23:23.638049Z","bundle_sha256":"adb1a9f4e71280be66dbbe93c34dc70040a52ea2ee8bd27771458bd172f3ac3c"}}