{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:PZOUSEFOQR47RD4JNFDMU42EKI","short_pith_number":"pith:PZOUSEFO","canonical_record":{"source":{"id":"2011.06277","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-12T09:28:55Z","cross_cats_sorted":[],"title_canon_sha256":"a349635fd9fb78cba7f5ce87688d264592ca711fb7eaf57ceaefac3028daab0b","abstract_canon_sha256":"8ba053bbf70950488fe526cbb3876e0a08c672e766ff8d20848f8c40e6e6dea9"},"schema_version":"1.0"},"canonical_sha256":"7e5d4910ae8479f88f896946ca7344521c4afe1808fe79a828510efaaf82e9e3","source":{"kind":"arxiv","id":"2011.06277","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.06277","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"arxiv_version","alias_value":"2011.06277v1","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.06277","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_12","alias_value":"PZOUSEFOQR47","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_16","alias_value":"PZOUSEFOQR47RD4J","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_8","alias_value":"PZOUSEFO","created_at":"2026-07-05T01:51:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:PZOUSEFOQR47RD4JNFDMU42EKI","target":"record","payload":{"canonical_record":{"source":{"id":"2011.06277","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-12T09:28:55Z","cross_cats_sorted":[],"title_canon_sha256":"a349635fd9fb78cba7f5ce87688d264592ca711fb7eaf57ceaefac3028daab0b","abstract_canon_sha256":"8ba053bbf70950488fe526cbb3876e0a08c672e766ff8d20848f8c40e6e6dea9"},"schema_version":"1.0"},"canonical_sha256":"7e5d4910ae8479f88f896946ca7344521c4afe1808fe79a828510efaaf82e9e3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:51:13.700050Z","signature_b64":"O/Y1meAp3TQYpgaI32Gf5ZxlhLjJ2h5ixEix5xHaz7E2NB5ECbGLVpPmVB0nr+GNa9ukv2BYpGZhlg9qHy+eDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7e5d4910ae8479f88f896946ca7344521c4afe1808fe79a828510efaaf82e9e3","last_reissued_at":"2026-07-05T01:51:13.699709Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:51:13.699709Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.06277","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":"2026-07-05T01:51:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5n4rJBOsLkQeYeg2FhrPR7Uhp3gMDGUqF1duNVJffCg4pLlEr1SrmXb0F/j2VIDScH8uXKZ7H+EhkrWzQn2QBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:58:03.234915Z"},"content_sha256":"eac6ec3e701e21e0185e08bd94fd175967b68f450eb6f635d773e942a47fd273","schema_version":"1.0","event_id":"sha256:eac6ec3e701e21e0185e08bd94fd175967b68f450eb6f635d773e942a47fd273"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:PZOUSEFOQR47RD4JNFDMU42EKI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On Designing Computing Systems for Autonomous Vehicles: a PerceptIn Case Study","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bo Yu, Jie Tang, Shaoshan Liu","submitted_at":"2020-11-12T09:28:55Z","abstract_excerpt":"PerceptIn develops and commercializes autonomous vehicles for micromobility around the globe. This paper makes a holistic summary of PerceptIn's development and operating experiences. This paper provides the business tale behind our product, and presents the development of the computing system for our vehicles. We illustrate the design decision made for the computing system, and show the advantage of offloading localization workloads onto an FPGA platform."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.06277","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/2011.06277/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":"2026-07-05T01:51:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pHZWd5FacJyDzCz1FqYNrBxsaJw6cX7mVnyaBEvTfq8H2H/WIDh+Nh9Mf2ZSPV9fKFTzgphG2QAKj5cOHxuQDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:58:03.235427Z"},"content_sha256":"cfce668d52c6be032946be8152c29d3046093ffe5351cfb040cfc8aa04c9ffbf","schema_version":"1.0","event_id":"sha256:cfce668d52c6be032946be8152c29d3046093ffe5351cfb040cfc8aa04c9ffbf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PZOUSEFOQR47RD4JNFDMU42EKI/bundle.json","state_url":"https://pith.science/pith/PZOUSEFOQR47RD4JNFDMU42EKI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PZOUSEFOQR47RD4JNFDMU42EKI/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":"2026-08-11T02:58:03Z","links":{"resolver":"https://pith.science/pith/PZOUSEFOQR47RD4JNFDMU42EKI","bundle":"https://pith.science/pith/PZOUSEFOQR47RD4JNFDMU42EKI/bundle.json","state":"https://pith.science/pith/PZOUSEFOQR47RD4JNFDMU42EKI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PZOUSEFOQR47RD4JNFDMU42EKI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:PZOUSEFOQR47RD4JNFDMU42EKI","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":"8ba053bbf70950488fe526cbb3876e0a08c672e766ff8d20848f8c40e6e6dea9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-12T09:28:55Z","title_canon_sha256":"a349635fd9fb78cba7f5ce87688d264592ca711fb7eaf57ceaefac3028daab0b"},"schema_version":"1.0","source":{"id":"2011.06277","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.06277","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"arxiv_version","alias_value":"2011.06277v1","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.06277","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_12","alias_value":"PZOUSEFOQR47","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_16","alias_value":"PZOUSEFOQR47RD4J","created_at":"2026-07-05T01:51:13Z"},{"alias_kind":"pith_short_8","alias_value":"PZOUSEFO","created_at":"2026-07-05T01:51:13Z"}],"graph_snapshots":[{"event_id":"sha256:cfce668d52c6be032946be8152c29d3046093ffe5351cfb040cfc8aa04c9ffbf","target":"graph","created_at":"2026-07-05T01:51:13Z","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/2011.06277/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"PerceptIn develops and commercializes autonomous vehicles for micromobility around the globe. This paper makes a holistic summary of PerceptIn's development and operating experiences. This paper provides the business tale behind our product, and presents the development of the computing system for our vehicles. We illustrate the design decision made for the computing system, and show the advantage of offloading localization workloads onto an FPGA platform.","authors_text":"Bo Yu, Jie Tang, Shaoshan Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-12T09:28:55Z","title":"On Designing Computing Systems for Autonomous Vehicles: a PerceptIn Case Study"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.06277","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:eac6ec3e701e21e0185e08bd94fd175967b68f450eb6f635d773e942a47fd273","target":"record","created_at":"2026-07-05T01:51:13Z","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":"8ba053bbf70950488fe526cbb3876e0a08c672e766ff8d20848f8c40e6e6dea9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-12T09:28:55Z","title_canon_sha256":"a349635fd9fb78cba7f5ce87688d264592ca711fb7eaf57ceaefac3028daab0b"},"schema_version":"1.0","source":{"id":"2011.06277","kind":"arxiv","version":1}},"canonical_sha256":"7e5d4910ae8479f88f896946ca7344521c4afe1808fe79a828510efaaf82e9e3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7e5d4910ae8479f88f896946ca7344521c4afe1808fe79a828510efaaf82e9e3","first_computed_at":"2026-07-05T01:51:13.699709Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:51:13.699709Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"O/Y1meAp3TQYpgaI32Gf5ZxlhLjJ2h5ixEix5xHaz7E2NB5ECbGLVpPmVB0nr+GNa9ukv2BYpGZhlg9qHy+eDg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:51:13.700050Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.06277","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eac6ec3e701e21e0185e08bd94fd175967b68f450eb6f635d773e942a47fd273","sha256:cfce668d52c6be032946be8152c29d3046093ffe5351cfb040cfc8aa04c9ffbf"],"state_sha256":"517f4cc598008c1f6af16aabe2f455226846699a3df5ab6c56a2500727327869"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ab/r7O0BQjQol3AYxrWla+AOXkar7seGSlaB5r1Ej5qH7ph63+YfHTrHyjOyca9mv57KeJKnjWqwJipxFGfIBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T02:58:03.239403Z","bundle_sha256":"1f1d205fc077ff5f8f1ced59dc21ef1ee068c328fdafc2df7369c5274bc5ae8d"}}