{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:PONEVWXWBLMMOSDCWWS2J2Q3ZT","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":"4a25bdae6b658695f642976b00ecee1888bf98d22d45afc5f96c6fce107e23a0","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-16T00:45:01Z","title_canon_sha256":"cd256f4c8ffdd0df840f2827e05af7e18d1d9c21d82056e0fc1c41553b78bc40"},"schema_version":"1.0","source":{"id":"2606.17386","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.17386","created_at":"2026-06-19T16:10:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.17386v1","created_at":"2026-06-19T16:10:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.17386","created_at":"2026-06-19T16:10:10Z"},{"alias_kind":"pith_short_12","alias_value":"PONEVWXWBLMM","created_at":"2026-06-19T16:10:10Z"},{"alias_kind":"pith_short_16","alias_value":"PONEVWXWBLMMOSDC","created_at":"2026-06-19T16:10:10Z"},{"alias_kind":"pith_short_8","alias_value":"PONEVWXW","created_at":"2026-06-19T16:10:10Z"}],"graph_snapshots":[{"event_id":"sha256:a5477dd3478b4f3f4110b5e8870449f545dc6de3a42b683b1b955324a7c2a4c1","target":"graph","created_at":"2026-06-19T16:10:10Z","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/2606.17386/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all stages: collecting and labeling millions of driving frames is costly, and closed-loop RL on images is bottlenecked by the per-step cost of photorealistic rendering plus a forward pass through a large vision backbone. Self-play in vectorized simulators changes the economics: millions of rollout steps per second, and a state distribution naturally rich in collisions, near-misses, and recoveries that no driving log contain","authors_text":"Akshay Rangesh, Chen Tang, Grantland Hall, Saarth Bonde, Weixin Li, Wei Zhan, Yihan Hu, Zhouchonghao Wu, Zikang Xiong","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-16T00:45:01Z","title":"TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.17386","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":"sha256:87866df58c75db1b1966d53f1252cb5a102846b66754717b79ebbeaefd88adb4","target":"record","created_at":"2026-06-19T16:10:10Z","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":"4a25bdae6b658695f642976b00ecee1888bf98d22d45afc5f96c6fce107e23a0","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-16T00:45:01Z","title_canon_sha256":"cd256f4c8ffdd0df840f2827e05af7e18d1d9c21d82056e0fc1c41553b78bc40"},"schema_version":"1.0","source":{"id":"2606.17386","kind":"arxiv","version":1}},"canonical_sha256":"7b9a4adaf60ad8c74862b5a5a4ea1bccc02f779f06c7fe9a41af3d002a342315","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7b9a4adaf60ad8c74862b5a5a4ea1bccc02f779f06c7fe9a41af3d002a342315","first_computed_at":"2026-06-19T16:10:10.887341Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:10:10.887341Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"L2fX4Nf0eHfK8+ZTBb0m0i8L6oVxIoPhENuI7e4Uumfsf/ZlJfEn/VhI0ackYNALz3W+y1mMCpuTaITWBRu3Ag==","signature_status":"signed_v1","signed_at":"2026-06-19T16:10:10.887686Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.17386","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:87866df58c75db1b1966d53f1252cb5a102846b66754717b79ebbeaefd88adb4","sha256:a5477dd3478b4f3f4110b5e8870449f545dc6de3a42b683b1b955324a7c2a4c1"],"state_sha256":"48258b58b15dd622b05239bc0ae97d22784000ec2288fceba28c1a8f6fe6cf5b"}