{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:KZ6JMUKGGWCBOR3L3LNRH4JNSE","short_pith_number":"pith:KZ6JMUKG","canonical_record":{"source":{"id":"2507.11940","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-16T06:09:19Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3a63492076c89130e083130d92c08609eedbdbecdcae18974e1a311ee5646d72","abstract_canon_sha256":"cbe50f1f34b624990f59d88c47f9781452e320774d72ea16477edecdbe3dbe25"},"schema_version":"1.0"},"canonical_sha256":"567c965146358417476bdadb13f12d913f0b4a4617be15e9a960e5aeb89c6409","source":{"kind":"arxiv","id":"2507.11940","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.11940","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"arxiv_version","alias_value":"2507.11940v1","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.11940","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_12","alias_value":"KZ6JMUKGGWCB","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_16","alias_value":"KZ6JMUKGGWCBOR3L","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_8","alias_value":"KZ6JMUKG","created_at":"2026-07-05T11:38:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:KZ6JMUKGGWCBOR3L3LNRH4JNSE","target":"record","payload":{"canonical_record":{"source":{"id":"2507.11940","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-16T06:09:19Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3a63492076c89130e083130d92c08609eedbdbecdcae18974e1a311ee5646d72","abstract_canon_sha256":"cbe50f1f34b624990f59d88c47f9781452e320774d72ea16477edecdbe3dbe25"},"schema_version":"1.0"},"canonical_sha256":"567c965146358417476bdadb13f12d913f0b4a4617be15e9a960e5aeb89c6409","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:38:11.155733Z","signature_b64":"XlOJtV6ZP0OveVRG8NHYC6UL9sHhLL3QXGMlN10vOmMMLCvRpXb6RtoRepWNIzQnKZ8l2LA1dFhNRcxZgt7QBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"567c965146358417476bdadb13f12d913f0b4a4617be15e9a960e5aeb89c6409","last_reissued_at":"2026-07-05T11:38:11.155175Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:38:11.155175Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.11940","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":"2026-07-05T11:38:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xlyDxj+Mcfspg/WhQebi7EaHvj1VvA0cYWdEW103AU+/WwfF9ogYi8rDMdkM1TpmkXlf31MrVwwClyxnXApNCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T03:43:01.090448Z"},"content_sha256":"337b64b4d0838eb0d0a3a9b7116df0966dae4d85fe37f965cc44a5526c29edf5","schema_version":"1.0","event_id":"sha256:337b64b4d0838eb0d0a3a9b7116df0966dae4d85fe37f965cc44a5526c29edf5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:KZ6JMUKGGWCBOR3L3LNRH4JNSE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"David Isele, Faizan M. Tariq, Jovin D'sa, Kanghyun Ryu, Minjun Sung, Piyush Gupta, Sangjae Bae","submitted_at":"2025-07-16T06:09:19Z","abstract_excerpt":"Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems from the AVs' limited ability to anticipate and respond to the interactive behavior of surrounding agents. Traditional decoupled prediction and planning pipelines rely on non-interactive predictions that overlook the fact that agents often adapt their behavior in response to the AV's actions. To address this, we propose Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral (IANN-MPPI) control, which e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.11940","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/2507.11940/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":"2026-07-05T11:38:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kDYwx+VDczBgD5dD294i5f0Gpur8ryWlEYOcHm0I+qZ2HQc61OqxitqNLsDJDRUap8DXdXO0kLsoCUR7PTXhBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T03:43:01.091007Z"},"content_sha256":"1cb46b3e3e53e640d690e82f3b51666ee51245a0602696ad63c335f9b2f622cc","schema_version":"1.0","event_id":"sha256:1cb46b3e3e53e640d690e82f3b51666ee51245a0602696ad63c335f9b2f622cc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/bundle.json","state_url":"https://pith.science/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/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":"2026-08-09T03:43:01Z","links":{"resolver":"https://pith.science/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE","bundle":"https://pith.science/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/bundle.json","state":"https://pith.science/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KZ6JMUKGGWCBOR3L3LNRH4JNSE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:KZ6JMUKGGWCBOR3L3LNRH4JNSE","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":"cbe50f1f34b624990f59d88c47f9781452e320774d72ea16477edecdbe3dbe25","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-16T06:09:19Z","title_canon_sha256":"3a63492076c89130e083130d92c08609eedbdbecdcae18974e1a311ee5646d72"},"schema_version":"1.0","source":{"id":"2507.11940","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.11940","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"arxiv_version","alias_value":"2507.11940v1","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.11940","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_12","alias_value":"KZ6JMUKGGWCB","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_16","alias_value":"KZ6JMUKGGWCBOR3L","created_at":"2026-07-05T11:38:11Z"},{"alias_kind":"pith_short_8","alias_value":"KZ6JMUKG","created_at":"2026-07-05T11:38:11Z"}],"graph_snapshots":[{"event_id":"sha256:1cb46b3e3e53e640d690e82f3b51666ee51245a0602696ad63c335f9b2f622cc","target":"graph","created_at":"2026-07-05T11:38:11Z","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/2507.11940/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems from the AVs' limited ability to anticipate and respond to the interactive behavior of surrounding agents. Traditional decoupled prediction and planning pipelines rely on non-interactive predictions that overlook the fact that agents often adapt their behavior in response to the AV's actions. To address this, we propose Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral (IANN-MPPI) control, which e","authors_text":"David Isele, Faizan M. Tariq, Jovin D'sa, Kanghyun Ryu, Minjun Sung, Piyush Gupta, Sangjae Bae","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-16T06:09:19Z","title":"IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.11940","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":"sha256:337b64b4d0838eb0d0a3a9b7116df0966dae4d85fe37f965cc44a5526c29edf5","target":"record","created_at":"2026-07-05T11:38:11Z","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":"cbe50f1f34b624990f59d88c47f9781452e320774d72ea16477edecdbe3dbe25","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-16T06:09:19Z","title_canon_sha256":"3a63492076c89130e083130d92c08609eedbdbecdcae18974e1a311ee5646d72"},"schema_version":"1.0","source":{"id":"2507.11940","kind":"arxiv","version":1}},"canonical_sha256":"567c965146358417476bdadb13f12d913f0b4a4617be15e9a960e5aeb89c6409","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"567c965146358417476bdadb13f12d913f0b4a4617be15e9a960e5aeb89c6409","first_computed_at":"2026-07-05T11:38:11.155175Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:38:11.155175Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XlOJtV6ZP0OveVRG8NHYC6UL9sHhLL3QXGMlN10vOmMMLCvRpXb6RtoRepWNIzQnKZ8l2LA1dFhNRcxZgt7QBw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:38:11.155733Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.11940","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:337b64b4d0838eb0d0a3a9b7116df0966dae4d85fe37f965cc44a5526c29edf5","sha256:1cb46b3e3e53e640d690e82f3b51666ee51245a0602696ad63c335f9b2f622cc"],"state_sha256":"be300af1e4eea124b43df575c149bb5fdd5204bd17bfa31ae9eeda7873795d6e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fezlKsZRG143E4bCemZZtv/VtyVP3HtIR+T7pgjQFmSiLEkbHXJJdnKG7T4j7rrpZzHxhv0wMJ3ISTaPjoX9Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T03:43:01.095137Z","bundle_sha256":"2e2fecfceeb3dda247244b655330d9c015539cce7877f475117e7b754ff1a79b"}}