{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:RVQZQ2QGV6FAV24GKHGKZ5HQ24","short_pith_number":"pith:RVQZQ2QG","canonical_record":{"source":{"id":"2107.09782","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-07-20T21:55:51Z","cross_cats_sorted":["cs.GT"],"title_canon_sha256":"497ebdab3b89109c4b99db7e869f9c5f802100ac7294b431e39c21e3417f384f","abstract_canon_sha256":"9f861d8813b447c3841c08c8716c266710876cf027c8a97c96466ab72b9e443a"},"schema_version":"1.0"},"canonical_sha256":"8d61986a06af8a0aeb8651ccacf4f0d72bd7e59392ba385d17bff1ca8e860019","source":{"kind":"arxiv","id":"2107.09782","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.09782","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"arxiv_version","alias_value":"2107.09782v1","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.09782","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_12","alias_value":"RVQZQ2QGV6FA","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_16","alias_value":"RVQZQ2QGV6FAV24G","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_8","alias_value":"RVQZQ2QG","created_at":"2026-07-05T02:59:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:RVQZQ2QGV6FAV24GKHGKZ5HQ24","target":"record","payload":{"canonical_record":{"source":{"id":"2107.09782","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-07-20T21:55:51Z","cross_cats_sorted":["cs.GT"],"title_canon_sha256":"497ebdab3b89109c4b99db7e869f9c5f802100ac7294b431e39c21e3417f384f","abstract_canon_sha256":"9f861d8813b447c3841c08c8716c266710876cf027c8a97c96466ab72b9e443a"},"schema_version":"1.0"},"canonical_sha256":"8d61986a06af8a0aeb8651ccacf4f0d72bd7e59392ba385d17bff1ca8e860019","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:59:39.432854Z","signature_b64":"sxdSZPzvZ+YHQVVtBrQBjw8MNibnzUDJqXHLBr7DpUvXWKcHrJ3A33CeYmVle6FTTSJx1wqeVneGM3UfMP8MCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8d61986a06af8a0aeb8651ccacf4f0d72bd7e59392ba385d17bff1ca8e860019","last_reissued_at":"2026-07-05T02:59:39.432481Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:59:39.432481Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2107.09782","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":"2026-07-05T02:59:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sXVTzbygZu1fMCA8Ig4J5CWVt+JlRg3SNybI21MRpJah5U/5p0NPwErAdXWlK5wLVvvPoMMYzoIy+QVK4JUiCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T23:53:55.534842Z"},"content_sha256":"399f03486c7d066112803baced9fc2496395ab5d57083dcbc8f647c3f1a02a22","schema_version":"1.0","event_id":"sha256:399f03486c7d066112803baced9fc2496395ab5d57083dcbc8f647c3f1a02a22"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:RVQZQ2QGV6FAV24GKHGKZ5HQ24","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Track based Offline Policy Learning for Overtaking Maneuvers with Autonomous Racecars","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.GT"],"primary_cat":"cs.RO","authors_text":"Hongrui Zheng, Jayanth Bhargav, Johannes Betz, Rahul Mangharam","submitted_at":"2021-07-20T21:55:51Z","abstract_excerpt":"The rising popularity of driver-less cars has led to the research and development in the field of autonomous racing, and overtaking in autonomous racing is a challenging task. Vehicles have to detect and operate at the limits of dynamic handling and decisions in the car have to be made at high speeds and high acceleration. One of the most crucial parts in autonomous racing is path planning and decision making for an overtaking maneuver with a dynamic opponent vehicle. In this paper we present the evaluation of a track based offline policy learning approach for autonomous racing. We define spec"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.09782","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/2107.09782/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":"2026-07-05T02:59:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WJwdz/oFik2U3g0xxVAZE0+8FJoFvE5yaUGE51xU2qwldAOZNElpZpyAwE1vEfGfbOEJfKjSBZPK04FzWcuJBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T23:53:55.535381Z"},"content_sha256":"22d28bd7dee20eafff84c3fb550ad9ba3c1bb180f0f82487b0fd13e4e0cebef4","schema_version":"1.0","event_id":"sha256:22d28bd7dee20eafff84c3fb550ad9ba3c1bb180f0f82487b0fd13e4e0cebef4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/bundle.json","state_url":"https://pith.science/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/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":"2026-08-21T23:53:55Z","links":{"resolver":"https://pith.science/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24","bundle":"https://pith.science/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/bundle.json","state":"https://pith.science/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RVQZQ2QGV6FAV24GKHGKZ5HQ24/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:RVQZQ2QGV6FAV24GKHGKZ5HQ24","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":"9f861d8813b447c3841c08c8716c266710876cf027c8a97c96466ab72b9e443a","cross_cats_sorted":["cs.GT"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-07-20T21:55:51Z","title_canon_sha256":"497ebdab3b89109c4b99db7e869f9c5f802100ac7294b431e39c21e3417f384f"},"schema_version":"1.0","source":{"id":"2107.09782","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.09782","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"arxiv_version","alias_value":"2107.09782v1","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.09782","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_12","alias_value":"RVQZQ2QGV6FA","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_16","alias_value":"RVQZQ2QGV6FAV24G","created_at":"2026-07-05T02:59:39Z"},{"alias_kind":"pith_short_8","alias_value":"RVQZQ2QG","created_at":"2026-07-05T02:59:39Z"}],"graph_snapshots":[{"event_id":"sha256:22d28bd7dee20eafff84c3fb550ad9ba3c1bb180f0f82487b0fd13e4e0cebef4","target":"graph","created_at":"2026-07-05T02:59:39Z","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/2107.09782/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The rising popularity of driver-less cars has led to the research and development in the field of autonomous racing, and overtaking in autonomous racing is a challenging task. Vehicles have to detect and operate at the limits of dynamic handling and decisions in the car have to be made at high speeds and high acceleration. One of the most crucial parts in autonomous racing is path planning and decision making for an overtaking maneuver with a dynamic opponent vehicle. In this paper we present the evaluation of a track based offline policy learning approach for autonomous racing. We define spec","authors_text":"Hongrui Zheng, Jayanth Bhargav, Johannes Betz, Rahul Mangharam","cross_cats":["cs.GT"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-07-20T21:55:51Z","title":"Track based Offline Policy Learning for Overtaking Maneuvers with Autonomous Racecars"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.09782","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":"sha256:399f03486c7d066112803baced9fc2496395ab5d57083dcbc8f647c3f1a02a22","target":"record","created_at":"2026-07-05T02:59:39Z","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":"9f861d8813b447c3841c08c8716c266710876cf027c8a97c96466ab72b9e443a","cross_cats_sorted":["cs.GT"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-07-20T21:55:51Z","title_canon_sha256":"497ebdab3b89109c4b99db7e869f9c5f802100ac7294b431e39c21e3417f384f"},"schema_version":"1.0","source":{"id":"2107.09782","kind":"arxiv","version":1}},"canonical_sha256":"8d61986a06af8a0aeb8651ccacf4f0d72bd7e59392ba385d17bff1ca8e860019","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8d61986a06af8a0aeb8651ccacf4f0d72bd7e59392ba385d17bff1ca8e860019","first_computed_at":"2026-07-05T02:59:39.432481Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:59:39.432481Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sxdSZPzvZ+YHQVVtBrQBjw8MNibnzUDJqXHLBr7DpUvXWKcHrJ3A33CeYmVle6FTTSJx1wqeVneGM3UfMP8MCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:59:39.432854Z","signed_message":"canonical_sha256_bytes"},"source_id":"2107.09782","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:399f03486c7d066112803baced9fc2496395ab5d57083dcbc8f647c3f1a02a22","sha256:22d28bd7dee20eafff84c3fb550ad9ba3c1bb180f0f82487b0fd13e4e0cebef4"],"state_sha256":"cd324ba798ca7b3ecfacb124b435aeb6d86b95f63c419345b7e2eaf789e2404c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"//jay0IUVqC1OUyRH4zaNUQoioYRFiDMMpf85rMmQL7cLdMDV+ETGjYTXeQi61l2P4KBvEPUy5tKApKQJJ14DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T23:53:55.541092Z","bundle_sha256":"2ed36f3d74d51e57b04363559845fc35796612c7460d1f5c160c9055cbede4dd"}}