{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:V3R6CEJUNHF63IKROO5OT4SXKO","short_pith_number":"pith:V3R6CEJU","canonical_record":{"source":{"id":"2406.00211","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-31T21:50:42Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"cfee4555ac91e4203285da4fc1eb8b1802c1d2853fbd674c7da401c78743ed9a","abstract_canon_sha256":"409a23b263f8035d248cdd21bd15acb23a5878955231905e4c6c8a5bc61748ec"},"schema_version":"1.0"},"canonical_sha256":"aee3e1113469cbeda15173bae9f25753840e37dfbbef996419d22464f7099c16","source":{"kind":"arxiv","id":"2406.00211","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.00211","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"arxiv_version","alias_value":"2406.00211v1","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.00211","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_12","alias_value":"V3R6CEJUNHF6","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_16","alias_value":"V3R6CEJUNHF63IKR","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_8","alias_value":"V3R6CEJU","created_at":"2026-07-05T08:25:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:V3R6CEJUNHF63IKROO5OT4SXKO","target":"record","payload":{"canonical_record":{"source":{"id":"2406.00211","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-31T21:50:42Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"cfee4555ac91e4203285da4fc1eb8b1802c1d2853fbd674c7da401c78743ed9a","abstract_canon_sha256":"409a23b263f8035d248cdd21bd15acb23a5878955231905e4c6c8a5bc61748ec"},"schema_version":"1.0"},"canonical_sha256":"aee3e1113469cbeda15173bae9f25753840e37dfbbef996419d22464f7099c16","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:25:58.663605Z","signature_b64":"doWTQ1pzbv2/plZ0rBVrO1a5jZfBb6g8YIQ7FYQz+PqmU+54oqEusleMc0J9O1+Nvvbl2QAhX90aP3e5iSFnDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aee3e1113469cbeda15173bae9f25753840e37dfbbef996419d22464f7099c16","last_reissued_at":"2026-07-05T08:25:58.662969Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:25:58.662969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.00211","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":"2026-07-05T08:25:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zZsv9uNPJkID7E7gvjKu46h0pExEQ04234TX2E9RvFjo/WwLp0R4cdn/MswXkhqJ2teJ/wNqX6YZ1Jq6KSp8Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T08:24:02.818603Z"},"content_sha256":"ec850d425c2700f5b0d757c964e020a370fdcc0303000dbd37878ed9c8a2122b","schema_version":"1.0","event_id":"sha256:ec850d425c2700f5b0d757c964e020a370fdcc0303000dbd37878ed9c8a2122b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:V3R6CEJUNHF63IKROO5OT4SXKO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Navigating Autonomous Vehicle on Unmarked Roads with Diffusion-Based Motion Prediction and Active Inference","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Andrea Matta, Mohsen Jafari, Yufei Huang, Yulin Li","submitted_at":"2024-05-31T21:50:42Z","abstract_excerpt":"This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking lot environment as a parallel to unmarked roads, we develop and test our model to predict and guide vehicle movements effectively. The diffusion-based motion predictor forecasts vehicle actions by leveraging probabilistic dynamics, while AIF aids in decision-making under uncertainty. Unlike traditional methods such as Model Predictive Control (MPC) and Rein"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.00211","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/2406.00211/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":"2026-07-05T08:25:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PmO6kLT/p9Q99tVaelwS20uP6P25kLuBTRDdw9t7aIipKMlNsF0ndBGJq756VKnEKDUGN+uQlm61hMmtqJhnAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T08:24:02.819179Z"},"content_sha256":"1e76d2283c075859eaddc7a111343e5d01b1c3e528eeb021a77807f79ca861b1","schema_version":"1.0","event_id":"sha256:1e76d2283c075859eaddc7a111343e5d01b1c3e528eeb021a77807f79ca861b1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V3R6CEJUNHF63IKROO5OT4SXKO/bundle.json","state_url":"https://pith.science/pith/V3R6CEJUNHF63IKROO5OT4SXKO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V3R6CEJUNHF63IKROO5OT4SXKO/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":"2026-08-09T08:24:02Z","links":{"resolver":"https://pith.science/pith/V3R6CEJUNHF63IKROO5OT4SXKO","bundle":"https://pith.science/pith/V3R6CEJUNHF63IKROO5OT4SXKO/bundle.json","state":"https://pith.science/pith/V3R6CEJUNHF63IKROO5OT4SXKO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V3R6CEJUNHF63IKROO5OT4SXKO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:V3R6CEJUNHF63IKROO5OT4SXKO","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":"409a23b263f8035d248cdd21bd15acb23a5878955231905e4c6c8a5bc61748ec","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-31T21:50:42Z","title_canon_sha256":"cfee4555ac91e4203285da4fc1eb8b1802c1d2853fbd674c7da401c78743ed9a"},"schema_version":"1.0","source":{"id":"2406.00211","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.00211","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"arxiv_version","alias_value":"2406.00211v1","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.00211","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_12","alias_value":"V3R6CEJUNHF6","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_16","alias_value":"V3R6CEJUNHF63IKR","created_at":"2026-07-05T08:25:58Z"},{"alias_kind":"pith_short_8","alias_value":"V3R6CEJU","created_at":"2026-07-05T08:25:58Z"}],"graph_snapshots":[{"event_id":"sha256:1e76d2283c075859eaddc7a111343e5d01b1c3e528eeb021a77807f79ca861b1","target":"graph","created_at":"2026-07-05T08:25:58Z","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/2406.00211/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking lot environment as a parallel to unmarked roads, we develop and test our model to predict and guide vehicle movements effectively. The diffusion-based motion predictor forecasts vehicle actions by leveraging probabilistic dynamics, while AIF aids in decision-making under uncertainty. Unlike traditional methods such as Model Predictive Control (MPC) and Rein","authors_text":"Andrea Matta, Mohsen Jafari, Yufei Huang, Yulin Li","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-31T21:50:42Z","title":"Navigating Autonomous Vehicle on Unmarked Roads with Diffusion-Based Motion Prediction and Active Inference"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.00211","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:ec850d425c2700f5b0d757c964e020a370fdcc0303000dbd37878ed9c8a2122b","target":"record","created_at":"2026-07-05T08:25:58Z","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":"409a23b263f8035d248cdd21bd15acb23a5878955231905e4c6c8a5bc61748ec","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-31T21:50:42Z","title_canon_sha256":"cfee4555ac91e4203285da4fc1eb8b1802c1d2853fbd674c7da401c78743ed9a"},"schema_version":"1.0","source":{"id":"2406.00211","kind":"arxiv","version":1}},"canonical_sha256":"aee3e1113469cbeda15173bae9f25753840e37dfbbef996419d22464f7099c16","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aee3e1113469cbeda15173bae9f25753840e37dfbbef996419d22464f7099c16","first_computed_at":"2026-07-05T08:25:58.662969Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:25:58.662969Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"doWTQ1pzbv2/plZ0rBVrO1a5jZfBb6g8YIQ7FYQz+PqmU+54oqEusleMc0J9O1+Nvvbl2QAhX90aP3e5iSFnDg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:25:58.663605Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.00211","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ec850d425c2700f5b0d757c964e020a370fdcc0303000dbd37878ed9c8a2122b","sha256:1e76d2283c075859eaddc7a111343e5d01b1c3e528eeb021a77807f79ca861b1"],"state_sha256":"713a0aeabed30eb90e46087e1320072f6414bac6d1c81ce179a4eafc55aeb99c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2ApGzfB2XuJkS+kpU8G10PWk8YxTejsIrlfY0T0l8wvLcDZ3qkevKqrYlQ3oHhf3JYyvELqszBSgT4dZWJOVCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T08:24:02.823620Z","bundle_sha256":"65772f64246c1a0acf5437d742c006a1dfe1b5aeeff0b666a7be00058e98dceb"}}