{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:UJCGI3O5Q3GWG2WN6HXPP75VWE","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":"007cc5ff1f229861978a9761f1361b5bba254034d52b50a656ae66c03bd68188","cross_cats_sorted":["cs.LG","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-23T06:27:18Z","title_canon_sha256":"3bd29b21691afedd29e9a357ac7b67452bd92605cbb0a99780785bdf32423457"},"schema_version":"1.0","source":{"id":"1904.10171","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.10171","created_at":"2026-07-04T23:50:17Z"},{"alias_kind":"arxiv_version","alias_value":"1904.10171v2","created_at":"2026-07-04T23:50:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.10171","created_at":"2026-07-04T23:50:17Z"},{"alias_kind":"pith_short_12","alias_value":"UJCGI3O5Q3GW","created_at":"2026-07-04T23:50:17Z"},{"alias_kind":"pith_short_16","alias_value":"UJCGI3O5Q3GWG2WN","created_at":"2026-07-04T23:50:17Z"},{"alias_kind":"pith_short_8","alias_value":"UJCGI3O5","created_at":"2026-07-04T23:50:17Z"}],"graph_snapshots":[{"event_id":"sha256:82ada54d429e8b16470790eaacfe938566586c8cbf9e552d4ae0280d1f2d0399","target":"graph","created_at":"2026-07-04T23:50:17Z","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/1904.10171/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to select a comfortable gap and just follow the preceding vehicle. Finally, a polynomial lane change trajectory is generated and Pure Pursuit Control is implemented for path tracking. We demonstrate the effectiveness of this framework in simulation, from both the decision-making and control layers. The proposed architecture also has the potential to be extended to o","authors_text":"Ching-Yao Chan, Ding Huang, Pin Wang, Tianyu Shi, Xuxin Cheng","cross_cats":["cs.LG","stat.ML"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-23T06:27:18Z","title":"Driving Decision and Control for Autonomous Lane Change based on Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.10171","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:f633a5649ae950a8b8b75a68004f5e0dcf468df6b170eafc97c1f5d03e4c79d7","target":"record","created_at":"2026-07-04T23:50:17Z","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":"007cc5ff1f229861978a9761f1361b5bba254034d52b50a656ae66c03bd68188","cross_cats_sorted":["cs.LG","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-23T06:27:18Z","title_canon_sha256":"3bd29b21691afedd29e9a357ac7b67452bd92605cbb0a99780785bdf32423457"},"schema_version":"1.0","source":{"id":"1904.10171","kind":"arxiv","version":2}},"canonical_sha256":"a244646ddd86cd636acdf1eef7ffb5b11989c55219b7e04bb9c4924154c5c372","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a244646ddd86cd636acdf1eef7ffb5b11989c55219b7e04bb9c4924154c5c372","first_computed_at":"2026-07-04T23:50:17.509359Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:50:17.509359Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3yt63TlSFCfepEb0o13DVBE6rzK//riJvBiZDXcb90FdMiDEFgp2XRf1I4P/v9US6Fno80X/bIxhp6FihubEAw==","signature_status":"signed_v1","signed_at":"2026-07-04T23:50:17.509906Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.10171","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f633a5649ae950a8b8b75a68004f5e0dcf468df6b170eafc97c1f5d03e4c79d7","sha256:82ada54d429e8b16470790eaacfe938566586c8cbf9e552d4ae0280d1f2d0399"],"state_sha256":"9b72b0dd05b2131b03b28f91f0412d0e68cf04ae3785fe5b94768b45166b0a3c"}