{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:TILD75BYBPTOOJWLLUYEQBQLVQ","short_pith_number":"pith:TILD75BY","canonical_record":{"source":{"id":"2205.03195","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-06T13:21:40Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"7dfbfa3701c08068817f808f847c8be9340cb2c4f51e21d9121a4fbc4a75d9fc","abstract_canon_sha256":"0fea62205bc64bbb0fc6126cc7ea585d6dac121543722039546c56f43315691e"},"schema_version":"1.0"},"canonical_sha256":"9a163ff4380be6e726cb5d3048060bac05f0266cc91a69be10ac52f972b21633","source":{"kind":"arxiv","id":"2205.03195","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.03195","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"arxiv_version","alias_value":"2205.03195v1","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.03195","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_12","alias_value":"TILD75BYBPTO","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_16","alias_value":"TILD75BYBPTOOJWL","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_8","alias_value":"TILD75BY","created_at":"2026-07-05T04:20:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:TILD75BYBPTOOJWLLUYEQBQLVQ","target":"record","payload":{"canonical_record":{"source":{"id":"2205.03195","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-06T13:21:40Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"7dfbfa3701c08068817f808f847c8be9340cb2c4f51e21d9121a4fbc4a75d9fc","abstract_canon_sha256":"0fea62205bc64bbb0fc6126cc7ea585d6dac121543722039546c56f43315691e"},"schema_version":"1.0"},"canonical_sha256":"9a163ff4380be6e726cb5d3048060bac05f0266cc91a69be10ac52f972b21633","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:20:56.851309Z","signature_b64":"JnXskMDxduTwGdAkF3XQmHLX0s+TSuCWQ517FKKIakqbtpWnpl+8l1PX8vz0BMmfrBSnOFJMWTGgI+Y2ogm0Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9a163ff4380be6e726cb5d3048060bac05f0266cc91a69be10ac52f972b21633","last_reissued_at":"2026-07-05T04:20:56.850830Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:20:56.850830Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2205.03195","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":"2026-07-05T04:20:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7oivrK2XfXqOmWCJgavvFty3sSD48iSKHmgkdJMZ/Pp3UxUN/EVNGcvAAtslBaurGMf8BCI1aszN0OCu+USeDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-26T14:11:43.525861Z"},"content_sha256":"aecb434e613a51497b860ad2908dedac42dba9cfc6c48577a4956c5de73973c2","schema_version":"1.0","event_id":"sha256:aecb434e613a51497b860ad2908dedac42dba9cfc6c48577a4956c5de73973c2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:TILD75BYBPTOOJWLLUYEQBQLVQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Alex Kuefler, Brandyn White, Daewoo Kim, Dragomir Anguelov, Kyriacos Shiarlis, Mark Palatucci, Maximilian Igl, Paul Mougin, Punit Shah, Shimon Whiteson","submitted_at":"2022-05-06T13:21:40Z","abstract_excerpt":"Simulation is a crucial tool for accelerating the development of autonomous vehicles. Making simulation realistic requires models of the human road users who interact with such cars. Such models can be obtained by applying learning from demonstration (LfD) to trajectories observed by cars already on the road. However, existing LfD methods are typically insufficient, yielding policies that frequently collide or drive off the road. To address this problem, we propose Symphony, which greatly improves realism by combining conventional policies with a parallel beam search. The beam search refines t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.03195","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/2205.03195/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":"2026-07-05T04:20:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"03tTTtegEFBSWY8rmI4DJWCrP1prX2b8lFmGzm+y8E8PUIjfkuf0awvFv2fMkX3zKjMQwCLaa2yKU6RkKaLgDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-26T14:11:43.526249Z"},"content_sha256":"8042c0eb5568cd14407ca2565280fde222c4245be3e470b3e7fc35581789eb84","schema_version":"1.0","event_id":"sha256:8042c0eb5568cd14407ca2565280fde222c4245be3e470b3e7fc35581789eb84"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/bundle.json","state_url":"https://pith.science/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/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":"2026-07-26T14:11:43Z","links":{"resolver":"https://pith.science/pith/TILD75BYBPTOOJWLLUYEQBQLVQ","bundle":"https://pith.science/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/bundle.json","state":"https://pith.science/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TILD75BYBPTOOJWLLUYEQBQLVQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:TILD75BYBPTOOJWLLUYEQBQLVQ","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":"0fea62205bc64bbb0fc6126cc7ea585d6dac121543722039546c56f43315691e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-06T13:21:40Z","title_canon_sha256":"7dfbfa3701c08068817f808f847c8be9340cb2c4f51e21d9121a4fbc4a75d9fc"},"schema_version":"1.0","source":{"id":"2205.03195","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.03195","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"arxiv_version","alias_value":"2205.03195v1","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.03195","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_12","alias_value":"TILD75BYBPTO","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_16","alias_value":"TILD75BYBPTOOJWL","created_at":"2026-07-05T04:20:56Z"},{"alias_kind":"pith_short_8","alias_value":"TILD75BY","created_at":"2026-07-05T04:20:56Z"}],"graph_snapshots":[{"event_id":"sha256:8042c0eb5568cd14407ca2565280fde222c4245be3e470b3e7fc35581789eb84","target":"graph","created_at":"2026-07-05T04:20:56Z","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/2205.03195/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simulation is a crucial tool for accelerating the development of autonomous vehicles. Making simulation realistic requires models of the human road users who interact with such cars. Such models can be obtained by applying learning from demonstration (LfD) to trajectories observed by cars already on the road. However, existing LfD methods are typically insufficient, yielding policies that frequently collide or drive off the road. To address this problem, we propose Symphony, which greatly improves realism by combining conventional policies with a parallel beam search. The beam search refines t","authors_text":"Alex Kuefler, Brandyn White, Daewoo Kim, Dragomir Anguelov, Kyriacos Shiarlis, Mark Palatucci, Maximilian Igl, Paul Mougin, Punit Shah, Shimon Whiteson","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-06T13:21:40Z","title":"Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.03195","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:aecb434e613a51497b860ad2908dedac42dba9cfc6c48577a4956c5de73973c2","target":"record","created_at":"2026-07-05T04:20:56Z","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":"0fea62205bc64bbb0fc6126cc7ea585d6dac121543722039546c56f43315691e","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-06T13:21:40Z","title_canon_sha256":"7dfbfa3701c08068817f808f847c8be9340cb2c4f51e21d9121a4fbc4a75d9fc"},"schema_version":"1.0","source":{"id":"2205.03195","kind":"arxiv","version":1}},"canonical_sha256":"9a163ff4380be6e726cb5d3048060bac05f0266cc91a69be10ac52f972b21633","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9a163ff4380be6e726cb5d3048060bac05f0266cc91a69be10ac52f972b21633","first_computed_at":"2026-07-05T04:20:56.850830Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:20:56.850830Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JnXskMDxduTwGdAkF3XQmHLX0s+TSuCWQ517FKKIakqbtpWnpl+8l1PX8vz0BMmfrBSnOFJMWTGgI+Y2ogm0Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:20:56.851309Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.03195","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aecb434e613a51497b860ad2908dedac42dba9cfc6c48577a4956c5de73973c2","sha256:8042c0eb5568cd14407ca2565280fde222c4245be3e470b3e7fc35581789eb84"],"state_sha256":"247183d4e12a4eba93b0fae42f6f3afdfbfce8ecf391ba5df19566912753964e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aKuaa8C04HI+37zo7+QBq/pOP0NLAzqrvbblfFt/Mc3PdTK1QYfhNoZXRvLOrRnFZ9Am0O06BpcfZydSSPP0DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-26T14:11:43.528428Z","bundle_sha256":"575aba15a6cfe5097ef01a9d44a06b21e6733416c0a89870a040650a2cca8d98"}}