{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:LSJ5VTWJTYTMA6N3YVZAZX6BKV","short_pith_number":"pith:LSJ5VTWJ","canonical_record":{"source":{"id":"2502.09918","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-14T05:06:46Z","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"title_canon_sha256":"eff217a2c708275189614c519d51235c812fdb85f7433646f2aaab2065adcaf2","abstract_canon_sha256":"90b7b06eea045faf4a5d281f4bbb7a7cc88bce8e5b30800f3ffe7d2a7f98e32b"},"schema_version":"1.0"},"canonical_sha256":"5c93dacec99e26c079bbc5720cdfc155489f810940206d30bebcbd5c9837c894","source":{"kind":"arxiv","id":"2502.09918","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.09918","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"arxiv_version","alias_value":"2502.09918v1","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.09918","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_12","alias_value":"LSJ5VTWJTYTM","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_16","alias_value":"LSJ5VTWJTYTMA6N3","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_8","alias_value":"LSJ5VTWJ","created_at":"2026-07-05T10:14:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:LSJ5VTWJTYTMA6N3YVZAZX6BKV","target":"record","payload":{"canonical_record":{"source":{"id":"2502.09918","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-14T05:06:46Z","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"title_canon_sha256":"eff217a2c708275189614c519d51235c812fdb85f7433646f2aaab2065adcaf2","abstract_canon_sha256":"90b7b06eea045faf4a5d281f4bbb7a7cc88bce8e5b30800f3ffe7d2a7f98e32b"},"schema_version":"1.0"},"canonical_sha256":"5c93dacec99e26c079bbc5720cdfc155489f810940206d30bebcbd5c9837c894","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:14:14.290465Z","signature_b64":"xIa7nNqYrhM3xPERJZ6k7+BZQmFvsMOKfCUJjvBasAW0EEjx0OjUeB52CtjEGVCzqMweuBdAtA58oZ8WegxmBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5c93dacec99e26c079bbc5720cdfc155489f810940206d30bebcbd5c9837c894","last_reissued_at":"2026-07-05T10:14:14.289985Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:14:14.289985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.09918","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":"2026-07-05T10:14:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hXxF8eAQIs3HM+TrvsmLOyATKIBMsJ/UQWSGdd6TmZbUwBSUCHhExekwMIWhxxMrvatJZe7B1CAOlY43E+D4AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:26:11.189947Z"},"content_sha256":"1289223984c70140261a527c882f384bcd02bc872d2218d6e1c8065d64a2367d","schema_version":"1.0","event_id":"sha256:1289223984c70140261a527c882f384bcd02bc872d2218d6e1c8065d64a2367d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:LSJ5VTWJTYTMA6N3YVZAZX6BKV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY","math.OC"],"primary_cat":"cs.RO","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jacob Knaup, Jovin D'sa, Panagiotis Tsiotras","submitted_at":"2025-02-14T05:06:46Z","abstract_excerpt":"Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient or inefficient because accurate inference of human behavior requires a continuous interaction rather than isolated prediction. To address this, we propose an active learning framework in which we rigorously derive predicted belief distributions. Additionally, we introduce a novel model-based diffusion solver tailored for online receding horizon control prob"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.09918","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/2502.09918/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":"2026-07-05T10:14:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2UhFiZUlZ1hX2ql9cnK8x/V3TVZy5oxoaA6bSGSczOhLSjwmGUdhJyGBjrL0LWgZXWorBLBGvLbv3Re4QqFKCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:26:11.190869Z"},"content_sha256":"5dc12718d67abe2e9a5b9f9210e7d55d3ff31a43585235d50abb502ae1e607ae","schema_version":"1.0","event_id":"sha256:5dc12718d67abe2e9a5b9f9210e7d55d3ff31a43585235d50abb502ae1e607ae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/bundle.json","state_url":"https://pith.science/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/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":"2026-08-08T11:26:11Z","links":{"resolver":"https://pith.science/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV","bundle":"https://pith.science/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/bundle.json","state":"https://pith.science/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LSJ5VTWJTYTMA6N3YVZAZX6BKV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:LSJ5VTWJTYTMA6N3YVZAZX6BKV","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":"90b7b06eea045faf4a5d281f4bbb7a7cc88bce8e5b30800f3ffe7d2a7f98e32b","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-14T05:06:46Z","title_canon_sha256":"eff217a2c708275189614c519d51235c812fdb85f7433646f2aaab2065adcaf2"},"schema_version":"1.0","source":{"id":"2502.09918","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.09918","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"arxiv_version","alias_value":"2502.09918v1","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.09918","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_12","alias_value":"LSJ5VTWJTYTM","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_16","alias_value":"LSJ5VTWJTYTMA6N3","created_at":"2026-07-05T10:14:14Z"},{"alias_kind":"pith_short_8","alias_value":"LSJ5VTWJ","created_at":"2026-07-05T10:14:14Z"}],"graph_snapshots":[{"event_id":"sha256:5dc12718d67abe2e9a5b9f9210e7d55d3ff31a43585235d50abb502ae1e607ae","target":"graph","created_at":"2026-07-05T10:14:14Z","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/2502.09918/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient or inefficient because accurate inference of human behavior requires a continuous interaction rather than isolated prediction. To address this, we propose an active learning framework in which we rigorously derive predicted belief distributions. Additionally, we introduce a novel model-based diffusion solver tailored for online receding horizon control prob","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jacob Knaup, Jovin D'sa, Panagiotis Tsiotras","cross_cats":["cs.SY","eess.SY","math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-14T05:06:46Z","title":"Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.09918","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":"sha256:1289223984c70140261a527c882f384bcd02bc872d2218d6e1c8065d64a2367d","target":"record","created_at":"2026-07-05T10:14:14Z","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":"90b7b06eea045faf4a5d281f4bbb7a7cc88bce8e5b30800f3ffe7d2a7f98e32b","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-14T05:06:46Z","title_canon_sha256":"eff217a2c708275189614c519d51235c812fdb85f7433646f2aaab2065adcaf2"},"schema_version":"1.0","source":{"id":"2502.09918","kind":"arxiv","version":1}},"canonical_sha256":"5c93dacec99e26c079bbc5720cdfc155489f810940206d30bebcbd5c9837c894","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5c93dacec99e26c079bbc5720cdfc155489f810940206d30bebcbd5c9837c894","first_computed_at":"2026-07-05T10:14:14.289985Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:14:14.289985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xIa7nNqYrhM3xPERJZ6k7+BZQmFvsMOKfCUJjvBasAW0EEjx0OjUeB52CtjEGVCzqMweuBdAtA58oZ8WegxmBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:14:14.290465Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.09918","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1289223984c70140261a527c882f384bcd02bc872d2218d6e1c8065d64a2367d","sha256:5dc12718d67abe2e9a5b9f9210e7d55d3ff31a43585235d50abb502ae1e607ae"],"state_sha256":"09406951529cd95f22d85f190964aa4c136f3a45360ec739c127ae0008bfd853"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ldYsKP5GRPWur47TKWDMo429gEZG2Kz5q/rL7bdVI/+BplaT35FagIg4G7W+4i0by9o3TthuwwjreCuqqFq1Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T11:26:11.198252Z","bundle_sha256":"5ca7cd256297351766423acacdc7408d75a440787a2592aea038e00c20827d8a"}}