{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:XZ6Z27KBDJFZINI46AHAAAZU6G","short_pith_number":"pith:XZ6Z27KB","canonical_record":{"source":{"id":"2402.01576","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:16:07Z","cross_cats_sorted":[],"title_canon_sha256":"cf3ec42d94a639a5617c24caddcac6a800861a56da045ffdac22e8c205381643","abstract_canon_sha256":"a6994130e8066494eaf86e39145d0c80f208fc939002a08fc911e29cd09c9bf7"},"schema_version":"1.0"},"canonical_sha256":"be7d9d7d411a4b94351cf00e000334f185ca5858a438bc56ba9b9abecaa4c064","source":{"kind":"arxiv","id":"2402.01576","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.01576","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2402.01576v1","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.01576","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"XZ6Z27KBDJFZ","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"XZ6Z27KBDJFZINI4","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"XZ6Z27KB","created_at":"2026-07-05T07:40:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:XZ6Z27KBDJFZINI46AHAAAZU6G","target":"record","payload":{"canonical_record":{"source":{"id":"2402.01576","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:16:07Z","cross_cats_sorted":[],"title_canon_sha256":"cf3ec42d94a639a5617c24caddcac6a800861a56da045ffdac22e8c205381643","abstract_canon_sha256":"a6994130e8066494eaf86e39145d0c80f208fc939002a08fc911e29cd09c9bf7"},"schema_version":"1.0"},"canonical_sha256":"be7d9d7d411a4b94351cf00e000334f185ca5858a438bc56ba9b9abecaa4c064","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:40:46.041601Z","signature_b64":"STydHoZ0ZxO9F4YX8OXwlIs9UKWVb5GKmh6l9xskPGiRm+T6mb4buYHPSaavXzMEIP8CXDmbxHAb9gRij5J9Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"be7d9d7d411a4b94351cf00e000334f185ca5858a438bc56ba9b9abecaa4c064","last_reissued_at":"2026-07-05T07:40:46.041190Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:40:46.041190Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.01576","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":"2026-07-05T07:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Br69exFfAKAOVniw1KMwYXLkrcRvNifqBqxIHIXLv7p0A8G+F9LotoLJocLOzNFk22u22WOyCK1tW0U5RKZLCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T18:45:03.109979Z"},"content_sha256":"9cf6522880ebcba764b1495c0dc899a4e931d72be0a7bbbd081e3e038d79d4cb","schema_version":"1.0","event_id":"sha256:9cf6522880ebcba764b1495c0dc899a4e931d72be0a7bbbd081e3e038d79d4cb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:XZ6Z27KBDJFZINI46AHAAAZU6G","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Training Adversarial yet Safe Agent to Characterize Safety Performance of Highly Automated Vehicles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anmol Sidhu, Keith A. Redmill, Minghao Zhu","submitted_at":"2024-02-02T17:16:07Z","abstract_excerpt":"This paper focuses on safety performance testing and characterization of black-box highly automated vehicles (HAV). Existing testing approaches typically obtain the testing outcomes by deploying the HAV into a specific testing environment. Such a testing environment can involve various passively given testing strategies presented by other traffic participants such as (i) the naturalistic driving policy learned from human drivers, (ii) extracted concrete scenarios from real-world driving data, and (iii) model-based or data-driven adversarial testing methodologies focusing on forcing safety-crit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.01576","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/2402.01576/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":"2026-07-05T07:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q25q67xPlJ2ZKwVt230wk8oga6MR/QM0Efgc5w3iReGFHyt/1FwQWN/3mWLi/ofCyKRHylieetfypyz0mYrwDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T18:45:03.111000Z"},"content_sha256":"0a5594aba72a93747cc0d187b376351177349295e1b4f6a2e8fa4c85f60da956","schema_version":"1.0","event_id":"sha256:0a5594aba72a93747cc0d187b376351177349295e1b4f6a2e8fa4c85f60da956"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/bundle.json","state_url":"https://pith.science/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/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":"2026-08-10T18:45:03Z","links":{"resolver":"https://pith.science/pith/XZ6Z27KBDJFZINI46AHAAAZU6G","bundle":"https://pith.science/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/bundle.json","state":"https://pith.science/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XZ6Z27KBDJFZINI46AHAAAZU6G/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:XZ6Z27KBDJFZINI46AHAAAZU6G","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":"a6994130e8066494eaf86e39145d0c80f208fc939002a08fc911e29cd09c9bf7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:16:07Z","title_canon_sha256":"cf3ec42d94a639a5617c24caddcac6a800861a56da045ffdac22e8c205381643"},"schema_version":"1.0","source":{"id":"2402.01576","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.01576","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2402.01576v1","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.01576","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"XZ6Z27KBDJFZ","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"XZ6Z27KBDJFZINI4","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"XZ6Z27KB","created_at":"2026-07-05T07:40:46Z"}],"graph_snapshots":[{"event_id":"sha256:0a5594aba72a93747cc0d187b376351177349295e1b4f6a2e8fa4c85f60da956","target":"graph","created_at":"2026-07-05T07:40:46Z","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/2402.01576/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper focuses on safety performance testing and characterization of black-box highly automated vehicles (HAV). Existing testing approaches typically obtain the testing outcomes by deploying the HAV into a specific testing environment. Such a testing environment can involve various passively given testing strategies presented by other traffic participants such as (i) the naturalistic driving policy learned from human drivers, (ii) extracted concrete scenarios from real-world driving data, and (iii) model-based or data-driven adversarial testing methodologies focusing on forcing safety-crit","authors_text":"Anmol Sidhu, Keith A. Redmill, Minghao Zhu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:16:07Z","title":"Training Adversarial yet Safe Agent to Characterize Safety Performance of Highly Automated Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.01576","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":"sha256:9cf6522880ebcba764b1495c0dc899a4e931d72be0a7bbbd081e3e038d79d4cb","target":"record","created_at":"2026-07-05T07:40:46Z","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":"a6994130e8066494eaf86e39145d0c80f208fc939002a08fc911e29cd09c9bf7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:16:07Z","title_canon_sha256":"cf3ec42d94a639a5617c24caddcac6a800861a56da045ffdac22e8c205381643"},"schema_version":"1.0","source":{"id":"2402.01576","kind":"arxiv","version":1}},"canonical_sha256":"be7d9d7d411a4b94351cf00e000334f185ca5858a438bc56ba9b9abecaa4c064","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"be7d9d7d411a4b94351cf00e000334f185ca5858a438bc56ba9b9abecaa4c064","first_computed_at":"2026-07-05T07:40:46.041190Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:40:46.041190Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"STydHoZ0ZxO9F4YX8OXwlIs9UKWVb5GKmh6l9xskPGiRm+T6mb4buYHPSaavXzMEIP8CXDmbxHAb9gRij5J9Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:40:46.041601Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.01576","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9cf6522880ebcba764b1495c0dc899a4e931d72be0a7bbbd081e3e038d79d4cb","sha256:0a5594aba72a93747cc0d187b376351177349295e1b4f6a2e8fa4c85f60da956"],"state_sha256":"62733e73f6a00f76ff0b57bdcd1f3545f7cc19d2268418a5da8f1b5507260c90"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mEMQNiIdUGQIExivP38fdnAaE6MgdrPAmHUxzXL6qiXP16sMCuMIY00uLTaaA3YeEr6kahkImLMSZBpmWZyQBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T18:45:03.122064Z","bundle_sha256":"b39dc9b3bba1614503737b067af28f7390cc8157f1725002b2005b43026ef601"}}