{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:OSNOAHOTWMIR6CZ3A7657IM6GP","short_pith_number":"pith:OSNOAHOT","canonical_record":{"source":{"id":"2509.00981","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-31T20:24:53Z","cross_cats_sorted":[],"title_canon_sha256":"e5bc6e68339910d01a62acacf156e1360b464aa62503cf463c2df3ffe1168f67","abstract_canon_sha256":"02566a05e38cfa609c1b6b0d6616c905a1eb78c74c1797bd2d4f3f192c2413e7"},"schema_version":"1.0"},"canonical_sha256":"749ae01dd3b3111f0b3b07fddfa19e33d6396d056a40f6146e7a1c7431cdb565","source":{"kind":"arxiv","id":"2509.00981","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.00981","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"arxiv_version","alias_value":"2509.00981v2","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.00981","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_12","alias_value":"OSNOAHOTWMIR","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_16","alias_value":"OSNOAHOTWMIR6CZ3","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_8","alias_value":"OSNOAHOT","created_at":"2026-07-05T12:05:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:OSNOAHOTWMIR6CZ3A7657IM6GP","target":"record","payload":{"canonical_record":{"source":{"id":"2509.00981","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-31T20:24:53Z","cross_cats_sorted":[],"title_canon_sha256":"e5bc6e68339910d01a62acacf156e1360b464aa62503cf463c2df3ffe1168f67","abstract_canon_sha256":"02566a05e38cfa609c1b6b0d6616c905a1eb78c74c1797bd2d4f3f192c2413e7"},"schema_version":"1.0"},"canonical_sha256":"749ae01dd3b3111f0b3b07fddfa19e33d6396d056a40f6146e7a1c7431cdb565","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:05:21.097072Z","signature_b64":"2xlvDX9aHBVuJxX6XcUntgJNo5NXuaG7QQpEaOt3sucxmjSsOCkDP/hscWRAf+heqQ0bt2m2ABtnGAgq6w5QDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"749ae01dd3b3111f0b3b07fddfa19e33d6396d056a40f6146e7a1c7431cdb565","last_reissued_at":"2026-07-05T12:05:21.096553Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:05:21.096553Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.00981","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:05:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rP4MGENIMT3ql4AZ/yY2LFYMoi0z49g4S4id7FORHncZxwMsgg74r38wrTr1D0AQgwAppP6w9w0rY0IUzEDnCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:29:30.176131Z"},"content_sha256":"658567e4d5fb04e9cdf9bfbd2efa0e4d7b08dbe20ec1356c8b69bfc8303bb012","schema_version":"1.0","event_id":"sha256:658567e4d5fb04e9cdf9bfbd2efa0e4d7b08dbe20ec1356c8b69bfc8303bb012"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:OSNOAHOTWMIR6CZ3A7657IM6GP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enhanced Mean Field Game for Interactive Decision-Making with Varied Stylish Multi-Vehicles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fujiang Yuan, Huilin Chen, Liancheng Zheng, Shuo Liu, Yangfan He, Yanhong Peng, Zhen Tian","submitted_at":"2025-08-31T20:24:53Z","abstract_excerpt":"This paper presents an MFG-based decision-making framework for autonomous driving in heterogeneous traffic. To capture diverse human behaviors, we propose a quantitative driving style representation that maps abstract traits to parameters such as speed, safety factors, and reaction time. These parameters are embedded into the MFG through a spatial influence field model. To ensure safe operation in dense traffic, we introduce a safety-critical lane-changing algorithm that leverages dynamic safety margins, time-to-collision analysis, and multi-layered constraints. Real-world NGSIM data is employ"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.00981","kind":"arxiv","version":2},"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/2509.00981/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":"2026-07-05T12:05:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gXTQRjgP/ZosQb6++qYEDlz90BUGDYCeyyTdiYVPJscTsaDW518Xp3M6iPWIL9U+iSV1BqBWJk4muNjDcH66BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T11:29:30.176614Z"},"content_sha256":"78324d78e3a2ccc9c5288397159feb408c55496d82a63b03c6806fb59125e228","schema_version":"1.0","event_id":"sha256:78324d78e3a2ccc9c5288397159feb408c55496d82a63b03c6806fb59125e228"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/bundle.json","state_url":"https://pith.science/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/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":"2026-08-05T11:29:30Z","links":{"resolver":"https://pith.science/pith/OSNOAHOTWMIR6CZ3A7657IM6GP","bundle":"https://pith.science/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/bundle.json","state":"https://pith.science/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OSNOAHOTWMIR6CZ3A7657IM6GP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:OSNOAHOTWMIR6CZ3A7657IM6GP","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":"02566a05e38cfa609c1b6b0d6616c905a1eb78c74c1797bd2d4f3f192c2413e7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-31T20:24:53Z","title_canon_sha256":"e5bc6e68339910d01a62acacf156e1360b464aa62503cf463c2df3ffe1168f67"},"schema_version":"1.0","source":{"id":"2509.00981","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.00981","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"arxiv_version","alias_value":"2509.00981v2","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.00981","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_12","alias_value":"OSNOAHOTWMIR","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_16","alias_value":"OSNOAHOTWMIR6CZ3","created_at":"2026-07-05T12:05:21Z"},{"alias_kind":"pith_short_8","alias_value":"OSNOAHOT","created_at":"2026-07-05T12:05:21Z"}],"graph_snapshots":[{"event_id":"sha256:78324d78e3a2ccc9c5288397159feb408c55496d82a63b03c6806fb59125e228","target":"graph","created_at":"2026-07-05T12:05:21Z","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/2509.00981/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an MFG-based decision-making framework for autonomous driving in heterogeneous traffic. To capture diverse human behaviors, we propose a quantitative driving style representation that maps abstract traits to parameters such as speed, safety factors, and reaction time. These parameters are embedded into the MFG through a spatial influence field model. To ensure safe operation in dense traffic, we introduce a safety-critical lane-changing algorithm that leverages dynamic safety margins, time-to-collision analysis, and multi-layered constraints. Real-world NGSIM data is employ","authors_text":"Fujiang Yuan, Huilin Chen, Liancheng Zheng, Shuo Liu, Yangfan He, Yanhong Peng, Zhen Tian","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-31T20:24:53Z","title":"Enhanced Mean Field Game for Interactive Decision-Making with Varied Stylish Multi-Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.00981","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":"sha256:658567e4d5fb04e9cdf9bfbd2efa0e4d7b08dbe20ec1356c8b69bfc8303bb012","target":"record","created_at":"2026-07-05T12:05:21Z","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":"02566a05e38cfa609c1b6b0d6616c905a1eb78c74c1797bd2d4f3f192c2413e7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-31T20:24:53Z","title_canon_sha256":"e5bc6e68339910d01a62acacf156e1360b464aa62503cf463c2df3ffe1168f67"},"schema_version":"1.0","source":{"id":"2509.00981","kind":"arxiv","version":2}},"canonical_sha256":"749ae01dd3b3111f0b3b07fddfa19e33d6396d056a40f6146e7a1c7431cdb565","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"749ae01dd3b3111f0b3b07fddfa19e33d6396d056a40f6146e7a1c7431cdb565","first_computed_at":"2026-07-05T12:05:21.096553Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:05:21.096553Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2xlvDX9aHBVuJxX6XcUntgJNo5NXuaG7QQpEaOt3sucxmjSsOCkDP/hscWRAf+heqQ0bt2m2ABtnGAgq6w5QDA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:05:21.097072Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.00981","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:658567e4d5fb04e9cdf9bfbd2efa0e4d7b08dbe20ec1356c8b69bfc8303bb012","sha256:78324d78e3a2ccc9c5288397159feb408c55496d82a63b03c6806fb59125e228"],"state_sha256":"b9138627ce0a8a375c96a70c39f11f53e85feaaae94ad4b666b80d8ebdf0a8a3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D5wCgVaWJ8mBTLEkXui3lv1HwfTiE40l7VszzBQU/L5PazhjNmYGuLas03ObJFsDBuD4ihIv6RogKJF15gvcCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T11:29:30.179997Z","bundle_sha256":"eab9be5dce7966e1747e91cc2d9108b7abf19a03106a92af71faf1c644ae06e0"}}