{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:UE2RARZCSNDVABV4C6VT7AZSAC","short_pith_number":"pith:UE2RARZC","canonical_record":{"source":{"id":"2507.10968","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"69f0736270ae6c5627c9194820717eba7fdcd89a8f1e8a9b84d698f0560f6156","abstract_canon_sha256":"4a18af11272ca86e38aee532c2dc5a0fa1e16705b94193a89b05b6851c03f815"},"schema_version":"1.0"},"canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","source":{"kind":"arxiv","id":"2507.10968","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.10968","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"arxiv_version","alias_value":"2507.10968v1","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.10968","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_12","alias_value":"UE2RARZCSNDV","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_16","alias_value":"UE2RARZCSNDVABV4","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_8","alias_value":"UE2RARZC","created_at":"2026-07-05T11:37:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:UE2RARZCSNDVABV4C6VT7AZSAC","target":"record","payload":{"canonical_record":{"source":{"id":"2507.10968","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"69f0736270ae6c5627c9194820717eba7fdcd89a8f1e8a9b84d698f0560f6156","abstract_canon_sha256":"4a18af11272ca86e38aee532c2dc5a0fa1e16705b94193a89b05b6851c03f815"},"schema_version":"1.0"},"canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:37:29.507283Z","signature_b64":"DT2piBPApqF97GEDDFKjMZT07s5SiCZwTLn5URca/OaGo2iawsINojBGgqDPaRcQWFLidZ6vXaVt03cpMORkCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","last_reissued_at":"2026-07-05T11:37:29.506778Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:37:29.506778Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.10968","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":"2026-07-05T11:37:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vAunOBs++9+jByXUq0WdU4Ig9MMI64jfCKYaGUcg17Swysr8g4XhJ9pS0myDo0+ZGgWbE3aQFsZ5Okm8SP+4DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T20:49:26.115675Z"},"content_sha256":"f89d72a03a3b504c74cb5fd60830de1b1610163ff7da24714d5836700170aa39","schema_version":"1.0","event_id":"sha256:f89d72a03a3b504c74cb5fd60830de1b1610163ff7da24714d5836700170aa39"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:UE2RARZCSNDVABV4C6VT7AZSAC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jovin D'sa, Toktam Mohammadnejad","submitted_at":"2025-07-15T04:15:35Z","abstract_excerpt":"Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.10968","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/2507.10968/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":"2026-07-05T11:37:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OkBoWRus7i5KUSv+EEAqwbQUTty0V051aK6EgthZo+2YyiET/FrkdRO6S2AYaZC4Da4+jXd3VELY9VToaOPJAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T20:49:26.116743Z"},"content_sha256":"9573162f71a64c74aa430c96c43f331f91b324d0e5d568aa8a855e0433eec3d2","schema_version":"1.0","event_id":"sha256:9573162f71a64c74aa430c96c43f331f91b324d0e5d568aa8a855e0433eec3d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/bundle.json","state_url":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UE2RARZCSNDVABV4C6VT7AZSAC/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":"2026-08-18T20:49:26Z","links":{"resolver":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC","bundle":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/bundle.json","state":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UE2RARZCSNDVABV4C6VT7AZSAC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UE2RARZCSNDVABV4C6VT7AZSAC","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":"4a18af11272ca86e38aee532c2dc5a0fa1e16705b94193a89b05b6851c03f815","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","title_canon_sha256":"69f0736270ae6c5627c9194820717eba7fdcd89a8f1e8a9b84d698f0560f6156"},"schema_version":"1.0","source":{"id":"2507.10968","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.10968","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"arxiv_version","alias_value":"2507.10968v1","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.10968","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_12","alias_value":"UE2RARZCSNDV","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_16","alias_value":"UE2RARZCSNDVABV4","created_at":"2026-07-05T11:37:29Z"},{"alias_kind":"pith_short_8","alias_value":"UE2RARZC","created_at":"2026-07-05T11:37:29Z"}],"graph_snapshots":[{"event_id":"sha256:9573162f71a64c74aa430c96c43f331f91b324d0e5d568aa8a855e0433eec3d2","target":"graph","created_at":"2026-07-05T11:37:29Z","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/2507.10968/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle ","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jovin D'sa, Toktam Mohammadnejad","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","title":"SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.10968","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:f89d72a03a3b504c74cb5fd60830de1b1610163ff7da24714d5836700170aa39","target":"record","created_at":"2026-07-05T11:37:29Z","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":"4a18af11272ca86e38aee532c2dc5a0fa1e16705b94193a89b05b6851c03f815","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","title_canon_sha256":"69f0736270ae6c5627c9194820717eba7fdcd89a8f1e8a9b84d698f0560f6156"},"schema_version":"1.0","source":{"id":"2507.10968","kind":"arxiv","version":1}},"canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","first_computed_at":"2026-07-05T11:37:29.506778Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:37:29.506778Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DT2piBPApqF97GEDDFKjMZT07s5SiCZwTLn5URca/OaGo2iawsINojBGgqDPaRcQWFLidZ6vXaVt03cpMORkCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:37:29.507283Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.10968","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f89d72a03a3b504c74cb5fd60830de1b1610163ff7da24714d5836700170aa39","sha256:9573162f71a64c74aa430c96c43f331f91b324d0e5d568aa8a855e0433eec3d2"],"state_sha256":"a388ef2db40d35ec7a34b00fe6295e19b96ba487976ced4dabbfe03859fb768f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kazmjC4Y1SmMZrB7QNFDaFxqipiTSHdZ732N+QUzrzlHVYwepAhLIajOdohdJxx7286dFSjM9QUFGiyTyu2GAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T20:49:26.131448Z","bundle_sha256":"07f4eaa40ca2cea015e06c7458b1cd34dff030e00300b60b82207fd51d7f84f8"}}