{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:UD6QVJQZ6DZXZ5FOGYN5EYCX6R","short_pith_number":"pith:UD6QVJQZ","canonical_record":{"source":{"id":"2507.18396","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T13:28:05Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c3f7e6338451ff0927b88715d906153886b45bb12d30c3b04ded565fa9ec2302","abstract_canon_sha256":"0aa7e628257f2e8e65b834947e1484ca6c00e6469895b35e72479a583c4f287d"},"schema_version":"1.0"},"canonical_sha256":"a0fd0aa619f0f37cf4ae361bd26057f4590b8287653236052a1bec015395d1f7","source":{"kind":"arxiv","id":"2507.18396","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18396","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18396v2","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18396","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_12","alias_value":"UD6QVJQZ6DZX","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_16","alias_value":"UD6QVJQZ6DZXZ5FO","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_8","alias_value":"UD6QVJQZ","created_at":"2026-07-05T11:48:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:UD6QVJQZ6DZXZ5FOGYN5EYCX6R","target":"record","payload":{"canonical_record":{"source":{"id":"2507.18396","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T13:28:05Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c3f7e6338451ff0927b88715d906153886b45bb12d30c3b04ded565fa9ec2302","abstract_canon_sha256":"0aa7e628257f2e8e65b834947e1484ca6c00e6469895b35e72479a583c4f287d"},"schema_version":"1.0"},"canonical_sha256":"a0fd0aa619f0f37cf4ae361bd26057f4590b8287653236052a1bec015395d1f7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:48:27.649388Z","signature_b64":"fXWX4i0qkuF1FsoqbTKCtZNV3L5O+a2HyFMYzZuG/9J/sID+0VuwML7tSE08C3K8Nl0/kTPRfeR6YQkxHi4OAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a0fd0aa619f0f37cf4ae361bd26057f4590b8287653236052a1bec015395d1f7","last_reissued_at":"2026-07-05T11:48:27.648740Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:48:27.648740Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.18396","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":"2026-07-05T11:48:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GjnJDxuuzz4Tsp3WCJpM757qIcvToCQ0hup6eevxQ2ryBeB5+1632FGoQSK6i6/QY9Cbwjs1A0Bgk5ZElVuiDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:18:02.873859Z"},"content_sha256":"2f0624200e2841a45c17fa405106d084a89ba9016530dd6d095634e8883c6c38","schema_version":"1.0","event_id":"sha256:2f0624200e2841a45c17fa405106d084a89ba9016530dd6d095634e8883c6c38"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:UD6QVJQZ6DZXZ5FOGYN5EYCX6R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Residual Koopman Model Predictive Control for Enhanced Vehicle Dynamics with Small On-Track Data Input","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Cheng Hu, Edoardo Ghignone, Haokun Xiong, Hongye Su, Lei Xie, Michele Magno, Wenyuan Du, Yonghao Fu, Zhanpeng Bao","submitted_at":"2025-07-24T13:28:05Z","abstract_excerpt":"In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model constraints, compromising driving safety. Model Predictive Control (MPC) as a widely adopted control method, optimizes control actions by incorporating mechanistic models and physical constraints. While its control performance critically depends on the accuracy of vehicle modeling. Traditional vehicle modeling approaches face inherent trade-offs between capturing nonlinear dynamics and maintaining computational effici"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18396","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/2507.18396/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":"2026-07-05T11:48:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gqUCJR8iU00F2ncEfUV3TsugaExFFRGRN+aowWPb9s4O1FSi3LZyC0mfH24w3J7nZsJ+eeFgGprn9YLB7m/sCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:18:02.875140Z"},"content_sha256":"d8c70b93a9054f1fdf308b938c4ed4be748aedd5a994c8bbbb711c7f150e5f2a","schema_version":"1.0","event_id":"sha256:d8c70b93a9054f1fdf308b938c4ed4be748aedd5a994c8bbbb711c7f150e5f2a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/bundle.json","state_url":"https://pith.science/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/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":"2026-08-03T15:18:02Z","links":{"resolver":"https://pith.science/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R","bundle":"https://pith.science/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/bundle.json","state":"https://pith.science/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UD6QVJQZ6DZXZ5FOGYN5EYCX6R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UD6QVJQZ6DZXZ5FOGYN5EYCX6R","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":"0aa7e628257f2e8e65b834947e1484ca6c00e6469895b35e72479a583c4f287d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T13:28:05Z","title_canon_sha256":"c3f7e6338451ff0927b88715d906153886b45bb12d30c3b04ded565fa9ec2302"},"schema_version":"1.0","source":{"id":"2507.18396","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18396","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18396v2","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18396","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_12","alias_value":"UD6QVJQZ6DZX","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_16","alias_value":"UD6QVJQZ6DZXZ5FO","created_at":"2026-07-05T11:48:27Z"},{"alias_kind":"pith_short_8","alias_value":"UD6QVJQZ","created_at":"2026-07-05T11:48:27Z"}],"graph_snapshots":[{"event_id":"sha256:d8c70b93a9054f1fdf308b938c4ed4be748aedd5a994c8bbbb711c7f150e5f2a","target":"graph","created_at":"2026-07-05T11:48:27Z","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/2507.18396/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model constraints, compromising driving safety. Model Predictive Control (MPC) as a widely adopted control method, optimizes control actions by incorporating mechanistic models and physical constraints. While its control performance critically depends on the accuracy of vehicle modeling. Traditional vehicle modeling approaches face inherent trade-offs between capturing nonlinear dynamics and maintaining computational effici","authors_text":"Cheng Hu, Edoardo Ghignone, Haokun Xiong, Hongye Su, Lei Xie, Michele Magno, Wenyuan Du, Yonghao Fu, Zhanpeng Bao","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T13:28:05Z","title":"Residual Koopman Model Predictive Control for Enhanced Vehicle Dynamics with Small On-Track Data Input"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18396","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":"sha256:2f0624200e2841a45c17fa405106d084a89ba9016530dd6d095634e8883c6c38","target":"record","created_at":"2026-07-05T11:48:27Z","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":"0aa7e628257f2e8e65b834947e1484ca6c00e6469895b35e72479a583c4f287d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T13:28:05Z","title_canon_sha256":"c3f7e6338451ff0927b88715d906153886b45bb12d30c3b04ded565fa9ec2302"},"schema_version":"1.0","source":{"id":"2507.18396","kind":"arxiv","version":2}},"canonical_sha256":"a0fd0aa619f0f37cf4ae361bd26057f4590b8287653236052a1bec015395d1f7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a0fd0aa619f0f37cf4ae361bd26057f4590b8287653236052a1bec015395d1f7","first_computed_at":"2026-07-05T11:48:27.648740Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:48:27.648740Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fXWX4i0qkuF1FsoqbTKCtZNV3L5O+a2HyFMYzZuG/9J/sID+0VuwML7tSE08C3K8Nl0/kTPRfeR6YQkxHi4OAg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:48:27.649388Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.18396","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2f0624200e2841a45c17fa405106d084a89ba9016530dd6d095634e8883c6c38","sha256:d8c70b93a9054f1fdf308b938c4ed4be748aedd5a994c8bbbb711c7f150e5f2a"],"state_sha256":"310cd8d2284328e8d1472ee4f06979eeaff6b42bb3d4997a2d2f77bf7acfc936"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hMKOwQb6Fb+CGWf8jWnTCxpyn5RH8jS9Ea+sT+O839/CgKq/qiaDE+TIJ1H7vD8ybMASs3CpBLNmseZC9OS5Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:18:02.882761Z","bundle_sha256":"6e47e421151e9e83dbc5c819cc623575721a682d795cdffb1f37999c5392ee0c"}}