{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:KZG33DYJVNM5ATRBC7QMNLSBMX","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":"3486263522fc625f793c3b65370f11a4a4073ec7d76cc3f7cd8c0e81af4adaef","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-05T16:07:24Z","title_canon_sha256":"0af587c7f80facd0461844cf50cc95557da48ba1436506e6e678c8c545ea7c49"},"schema_version":"1.0","source":{"id":"1812.02071","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.02071","created_at":"2026-05-17T23:58:47Z"},{"alias_kind":"arxiv_version","alias_value":"1812.02071v2","created_at":"2026-05-17T23:58:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.02071","created_at":"2026-05-17T23:58:47Z"},{"alias_kind":"pith_short_12","alias_value":"KZG33DYJVNM5","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"KZG33DYJVNM5ATRB","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"KZG33DYJ","created_at":"2026-05-18T12:32:33Z"}],"graph_snapshots":[{"event_id":"sha256:cf65402175535451d0ed0f276f794c9fd7a901d8635c309f89bd4178c1b9fee2","target":"graph","created_at":"2026-05-17T23:58:47Z","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"},"paper":{"abstract_excerpt":"In this paper we present a framework for combining deep learning-based road detection, particle filters, and Model Predictive Control (MPC) to drive aggressively using only a monocular camera, IMU, and wheel speed sensors. This framework uses deep convolutional neural networks combined with LSTMs to learn a local cost map representation of the track in front of the vehicle. A particle filter uses this dynamic observation model to localize in a schematic map, and MPC is used to drive aggressively using this particle filter based state estimate. We show extensive real world testing results, and ","authors_text":"Brian Goldfain, Evangelos A. Theodorou, Grady Williams, James M. Rehg, Paul Drews","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-05T16:07:24Z","title":"Vision-Based High Speed Driving with a Deep Dynamic Observer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.02071","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":"sha256:76c718e702aa25f5e87b3901249a06c4e3ef006da7d7c45000a12a1e40dac362","target":"record","created_at":"2026-05-17T23:58:47Z","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":"3486263522fc625f793c3b65370f11a4a4073ec7d76cc3f7cd8c0e81af4adaef","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-05T16:07:24Z","title_canon_sha256":"0af587c7f80facd0461844cf50cc95557da48ba1436506e6e678c8c545ea7c49"},"schema_version":"1.0","source":{"id":"1812.02071","kind":"arxiv","version":2}},"canonical_sha256":"564dbd8f09ab59d04e2117e0c6ae4165d356febaa718627672ab2c5c846aa984","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"564dbd8f09ab59d04e2117e0c6ae4165d356febaa718627672ab2c5c846aa984","first_computed_at":"2026-05-17T23:58:47.074873Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:58:47.074873Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2Jmj+fqZobI/E7zV9uz+HVqJqBebHRtmt2IC4IqTCF41W/6jNg3o0YZcqpqN6CcKx9GZKnGLCTKHrpY0mfNnBw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:58:47.075244Z","signed_message":"canonical_sha256_bytes"},"source_id":"1812.02071","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:76c718e702aa25f5e87b3901249a06c4e3ef006da7d7c45000a12a1e40dac362","sha256:cf65402175535451d0ed0f276f794c9fd7a901d8635c309f89bd4178c1b9fee2"],"state_sha256":"ad45bd1db36c5392d1cac0e281e5d6ff34fa4be5cbf124dbbe2961200a6a630a"}