{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:OEFQKPB5A4MTKWBT3UIPHRYKJI","short_pith_number":"pith:OEFQKPB5","canonical_record":{"source":{"id":"2508.12729","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T08:53:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"83a20d923485a244910a6fccb64718d38bc93b0291a3c37d53f211db06aa3c1f","abstract_canon_sha256":"b7f0d8613cfae82be87554cb8eeceea3aa039772531e804e7468db2e710463cf"},"schema_version":"1.0"},"canonical_sha256":"710b053c3d0719355833dd10f3c70a4a296bd8d24055d36e99e460546ee0c59c","source":{"kind":"arxiv","id":"2508.12729","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.12729","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"arxiv_version","alias_value":"2508.12729v1","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.12729","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_12","alias_value":"OEFQKPB5A4MT","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_16","alias_value":"OEFQKPB5A4MTKWBT","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_8","alias_value":"OEFQKPB5","created_at":"2026-07-05T11:55:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:OEFQKPB5A4MTKWBT3UIPHRYKJI","target":"record","payload":{"canonical_record":{"source":{"id":"2508.12729","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T08:53:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"83a20d923485a244910a6fccb64718d38bc93b0291a3c37d53f211db06aa3c1f","abstract_canon_sha256":"b7f0d8613cfae82be87554cb8eeceea3aa039772531e804e7468db2e710463cf"},"schema_version":"1.0"},"canonical_sha256":"710b053c3d0719355833dd10f3c70a4a296bd8d24055d36e99e460546ee0c59c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:55:26.064469Z","signature_b64":"IGu23ctIxibmQ5F9fr7vt0zVU0jYWdcDYAJmhZNK1RgGoP4CJRfr7luZQJlJvHyUQnhSQkmtJNzuOJZBo0QxAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"710b053c3d0719355833dd10f3c70a4a296bd8d24055d36e99e460546ee0c59c","last_reissued_at":"2026-07-05T11:55:26.063958Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:55:26.063958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.12729","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":"2026-07-05T11:55:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pPcaok5VwMcmFhkMF1x2DVefi35ihYfAPH1whXGFWhMzHYkc/n59heDlYcWFjnNuHq3FGquHlDn7WUoszI6tCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T14:37:55.176062Z"},"content_sha256":"1b7eec517dd94a9843bb3b331483c0b1cf6eebe22cb2665df1a9c8d5a389f7c1","schema_version":"1.0","event_id":"sha256:1b7eec517dd94a9843bb3b331483c0b1cf6eebe22cb2665df1a9c8d5a389f7c1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:OEFQKPB5A4MTKWBT3UIPHRYKJI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MCTR: Midpoint Corrected Triangulation for Autonomous Racing via Digital Twin Simulation in CARLA","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Cheng Hu, Hongye Su, Jie He, Junhao Ye, Lei Xie, Meixun Qu, Nicolas Baumann, Weizhan Huang, Yiqin Wang","submitted_at":"2025-08-18T08:53:07Z","abstract_excerpt":"In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This bypasses the need for explicit localization and trajectory planning. A widely adopted baseline in this category is the Follow-The-Gap method, which performs trajectory planning using LiDAR data. Building on FTG, the Delaunay Triangulation-based Racing algorithm introduces further enhancements. However, DTR's use of circumcircles for trajectory generation often results in insufficiently smooth paths, ultimately degradin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.12729","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/2508.12729/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":"2026-07-05T11:55:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZGD0EbA9AsAEJKDMvGd30u2UHgPA+/vV/VRGmO4ng+wGGoXu5vPUYtsrNOr8rHyzwEinhkhb4q0DeyAPC9YHBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T14:37:55.176674Z"},"content_sha256":"0d6aa2e7536e024e770adbb536cad3186e46d4736c58e064aab8cb727f0c2d67","schema_version":"1.0","event_id":"sha256:0d6aa2e7536e024e770adbb536cad3186e46d4736c58e064aab8cb727f0c2d67"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/bundle.json","state_url":"https://pith.science/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/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":"2026-08-12T14:37:55Z","links":{"resolver":"https://pith.science/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI","bundle":"https://pith.science/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/bundle.json","state":"https://pith.science/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OEFQKPB5A4MTKWBT3UIPHRYKJI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:OEFQKPB5A4MTKWBT3UIPHRYKJI","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":"b7f0d8613cfae82be87554cb8eeceea3aa039772531e804e7468db2e710463cf","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T08:53:07Z","title_canon_sha256":"83a20d923485a244910a6fccb64718d38bc93b0291a3c37d53f211db06aa3c1f"},"schema_version":"1.0","source":{"id":"2508.12729","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.12729","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"arxiv_version","alias_value":"2508.12729v1","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.12729","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_12","alias_value":"OEFQKPB5A4MT","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_16","alias_value":"OEFQKPB5A4MTKWBT","created_at":"2026-07-05T11:55:26Z"},{"alias_kind":"pith_short_8","alias_value":"OEFQKPB5","created_at":"2026-07-05T11:55:26Z"}],"graph_snapshots":[{"event_id":"sha256:0d6aa2e7536e024e770adbb536cad3186e46d4736c58e064aab8cb727f0c2d67","target":"graph","created_at":"2026-07-05T11:55:26Z","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/2508.12729/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This bypasses the need for explicit localization and trajectory planning. A widely adopted baseline in this category is the Follow-The-Gap method, which performs trajectory planning using LiDAR data. Building on FTG, the Delaunay Triangulation-based Racing algorithm introduces further enhancements. However, DTR's use of circumcircles for trajectory generation often results in insufficiently smooth paths, ultimately degradin","authors_text":"Cheng Hu, Hongye Su, Jie He, Junhao Ye, Lei Xie, Meixun Qu, Nicolas Baumann, Weizhan Huang, Yiqin Wang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T08:53:07Z","title":"MCTR: Midpoint Corrected Triangulation for Autonomous Racing via Digital Twin Simulation in CARLA"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.12729","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":"sha256:1b7eec517dd94a9843bb3b331483c0b1cf6eebe22cb2665df1a9c8d5a389f7c1","target":"record","created_at":"2026-07-05T11:55:26Z","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":"b7f0d8613cfae82be87554cb8eeceea3aa039772531e804e7468db2e710463cf","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T08:53:07Z","title_canon_sha256":"83a20d923485a244910a6fccb64718d38bc93b0291a3c37d53f211db06aa3c1f"},"schema_version":"1.0","source":{"id":"2508.12729","kind":"arxiv","version":1}},"canonical_sha256":"710b053c3d0719355833dd10f3c70a4a296bd8d24055d36e99e460546ee0c59c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"710b053c3d0719355833dd10f3c70a4a296bd8d24055d36e99e460546ee0c59c","first_computed_at":"2026-07-05T11:55:26.063958Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:55:26.063958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IGu23ctIxibmQ5F9fr7vt0zVU0jYWdcDYAJmhZNK1RgGoP4CJRfr7luZQJlJvHyUQnhSQkmtJNzuOJZBo0QxAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:55:26.064469Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.12729","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1b7eec517dd94a9843bb3b331483c0b1cf6eebe22cb2665df1a9c8d5a389f7c1","sha256:0d6aa2e7536e024e770adbb536cad3186e46d4736c58e064aab8cb727f0c2d67"],"state_sha256":"29a309873765aec2f48c574b741278eddca064e17202443af6e33e9b35b25099"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zvlMRuubdbfgC3qXchUKw4RvUnecxCZY29EDlf+ERxEgGopC45D4cIBrppFAz5N9VDOCAUJMAQh+0Aeyt0OIDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T14:37:55.181611Z","bundle_sha256":"d16d206c9c3e2eae20d4dbf0d34ccca3b7687a67d7708f3dfec90e35cf0e458d"}}