{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:KTH7U44X2F24NAGOEL7SNEK2KK","short_pith_number":"pith:KTH7U44X","canonical_record":{"source":{"id":"2308.13491","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-25T17:05:41Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"73b360cb4f6d832d4a62a75753ad1aa31c6accecf06de7898f9e0a18ec1c49b7","abstract_canon_sha256":"c3228a3e7e38aedbc276aa96f513b63739bf576b543889c180b2844178212e44"},"schema_version":"1.0"},"canonical_sha256":"54cffa7397d175c680ce22ff26915a52848af89c593ad0ad01c61d0429d9c883","source":{"kind":"arxiv","id":"2308.13491","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.13491","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"arxiv_version","alias_value":"2308.13491v1","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.13491","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_12","alias_value":"KTH7U44X2F24","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_16","alias_value":"KTH7U44X2F24NAGO","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_8","alias_value":"KTH7U44X","created_at":"2026-07-05T06:44:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:KTH7U44X2F24NAGOEL7SNEK2KK","target":"record","payload":{"canonical_record":{"source":{"id":"2308.13491","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-25T17:05:41Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"73b360cb4f6d832d4a62a75753ad1aa31c6accecf06de7898f9e0a18ec1c49b7","abstract_canon_sha256":"c3228a3e7e38aedbc276aa96f513b63739bf576b543889c180b2844178212e44"},"schema_version":"1.0"},"canonical_sha256":"54cffa7397d175c680ce22ff26915a52848af89c593ad0ad01c61d0429d9c883","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:44:44.768518Z","signature_b64":"GcOF2PtdLL4ESj4uVUeJxtMkcIkBeL+MZ2v1x2NcZVgFELa2IU2TBHjoQq5xEAZORQDnnHARhui430Ra4w5jCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"54cffa7397d175c680ce22ff26915a52848af89c593ad0ad01c61d0429d9c883","last_reissued_at":"2026-07-05T06:44:44.768127Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:44:44.768127Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.13491","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":"2026-07-05T06:44:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QOIlT8tmcaVUxYB0GYpnK9VFvhkveng3GGMLJViWdSC/8xgwyw5t0xCQqt100uLF4yLC1sNONssSQXKXY4+9Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T23:13:11.540987Z"},"content_sha256":"e4be9e1eb9f3358dd5a2347cf8851153169b2ee4df79f4222e91558cee65a25c","schema_version":"1.0","event_id":"sha256:e4be9e1eb9f3358dd5a2347cf8851153169b2ee4df79f4222e91558cee65a25c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:KTH7U44X2F24NAGOEL7SNEK2KK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Optimal Head-to-head Autonomous Racing with Curriculum Reinforcement Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Dvij Kalaria, John M. Dolan, Qin Lin","submitted_at":"2023-08-25T17:05:41Z","abstract_excerpt":"Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the opponent. In this work we propose a head-to-head racing environment for reinforcement learning which accurately models vehicle dynamics. Some previous works have tried learning a policy directly in the complex vehicle dynamics environment but have failed to learn an optimal policy. In this work, we propose a curriculum learning-based framework by transitioning fr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.13491","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/2308.13491/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":"2026-07-05T06:44:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fh9o6534lcrJmIR/5I1DL897W0i3FBtbjb/pNDokj9sa1LSGuYuqb1bn4Jne20F87aIM34/EU0cAZ5r8QrUDDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T23:13:11.541508Z"},"content_sha256":"04de7ef13f0deca64d1038a47409d8d1aba851d67ade9a315078dad0b48f2059","schema_version":"1.0","event_id":"sha256:04de7ef13f0deca64d1038a47409d8d1aba851d67ade9a315078dad0b48f2059"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KTH7U44X2F24NAGOEL7SNEK2KK/bundle.json","state_url":"https://pith.science/pith/KTH7U44X2F24NAGOEL7SNEK2KK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KTH7U44X2F24NAGOEL7SNEK2KK/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":"2026-08-08T23:13:11Z","links":{"resolver":"https://pith.science/pith/KTH7U44X2F24NAGOEL7SNEK2KK","bundle":"https://pith.science/pith/KTH7U44X2F24NAGOEL7SNEK2KK/bundle.json","state":"https://pith.science/pith/KTH7U44X2F24NAGOEL7SNEK2KK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KTH7U44X2F24NAGOEL7SNEK2KK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:KTH7U44X2F24NAGOEL7SNEK2KK","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":"c3228a3e7e38aedbc276aa96f513b63739bf576b543889c180b2844178212e44","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-25T17:05:41Z","title_canon_sha256":"73b360cb4f6d832d4a62a75753ad1aa31c6accecf06de7898f9e0a18ec1c49b7"},"schema_version":"1.0","source":{"id":"2308.13491","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.13491","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"arxiv_version","alias_value":"2308.13491v1","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.13491","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_12","alias_value":"KTH7U44X2F24","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_16","alias_value":"KTH7U44X2F24NAGO","created_at":"2026-07-05T06:44:44Z"},{"alias_kind":"pith_short_8","alias_value":"KTH7U44X","created_at":"2026-07-05T06:44:44Z"}],"graph_snapshots":[{"event_id":"sha256:04de7ef13f0deca64d1038a47409d8d1aba851d67ade9a315078dad0b48f2059","target":"graph","created_at":"2026-07-05T06:44:44Z","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/2308.13491/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the opponent. In this work we propose a head-to-head racing environment for reinforcement learning which accurately models vehicle dynamics. Some previous works have tried learning a policy directly in the complex vehicle dynamics environment but have failed to learn an optimal policy. In this work, we propose a curriculum learning-based framework by transitioning fr","authors_text":"Dvij Kalaria, John M. Dolan, Qin Lin","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-25T17:05:41Z","title":"Towards Optimal Head-to-head Autonomous Racing with Curriculum Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.13491","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:e4be9e1eb9f3358dd5a2347cf8851153169b2ee4df79f4222e91558cee65a25c","target":"record","created_at":"2026-07-05T06:44:44Z","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":"c3228a3e7e38aedbc276aa96f513b63739bf576b543889c180b2844178212e44","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-08-25T17:05:41Z","title_canon_sha256":"73b360cb4f6d832d4a62a75753ad1aa31c6accecf06de7898f9e0a18ec1c49b7"},"schema_version":"1.0","source":{"id":"2308.13491","kind":"arxiv","version":1}},"canonical_sha256":"54cffa7397d175c680ce22ff26915a52848af89c593ad0ad01c61d0429d9c883","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"54cffa7397d175c680ce22ff26915a52848af89c593ad0ad01c61d0429d9c883","first_computed_at":"2026-07-05T06:44:44.768127Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:44:44.768127Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GcOF2PtdLL4ESj4uVUeJxtMkcIkBeL+MZ2v1x2NcZVgFELa2IU2TBHjoQq5xEAZORQDnnHARhui430Ra4w5jCA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:44:44.768518Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.13491","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e4be9e1eb9f3358dd5a2347cf8851153169b2ee4df79f4222e91558cee65a25c","sha256:04de7ef13f0deca64d1038a47409d8d1aba851d67ade9a315078dad0b48f2059"],"state_sha256":"2e2ee8a74eb21c0bef35128c75bcedd7717389d151fd68cb8662021475401b6e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xYw7gDHM7ZTIcIEJMEzrnNLfgHxmVBgXXwPfYKjkv0p3ArW4hm7Ywcihd6KpA3DtJPT6R3K9fIhmtITyLlsNBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T23:13:11.545170Z","bundle_sha256":"a1a8aba6d058cf0e52554e8656e30a788aefe568a1fff7a33124db9e677b6be7"}}