{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:YBWQLKY6N64X4YNM5DCPUIS7RE","short_pith_number":"pith:YBWQLKY6","schema_version":"1.0","canonical_sha256":"c06d05ab1e6fb97e61ace8c4fa225f89337c631aefa1d00980f8f9d66c8d99a8","source":{"kind":"arxiv","id":"2607.13319","version":1},"attestation_state":"computed","paper":{"title":"Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Christian Ellis, Garrett Warnell, Jesse Quattrociocchi, Joydeep Biswas, Nathan Tsoi, Rwik Rana","submitted_at":"2026-07-14T22:59:40Z","abstract_excerpt":"High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD mo"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.13319","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-14T22:59:40Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"accf903ad78275582e29fd8c362199c0f525cbf68e97dcb672a1129af6e56315","abstract_canon_sha256":"d490d89aa394e1d55eda13259b058a46b5c21461d22327d215ad4533f409e2e2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-16T00:22:11.932762Z","signature_b64":"J198CynVViqE+rayX4Fr5bJ4vHeI9R9b21/+nAlYBpqR2f7VCm/oyywhMQy+PJdsn+6T+XFPJoqkPf7Qno7MBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c06d05ab1e6fb97e61ace8c4fa225f89337c631aefa1d00980f8f9d66c8d99a8","last_reissued_at":"2026-07-16T00:22:11.931633Z","signature_status":"signed_v1","first_computed_at":"2026-07-16T00:22:11.931633Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Christian Ellis, Garrett Warnell, Jesse Quattrociocchi, Joydeep Biswas, Nathan Tsoi, Rwik Rana","submitted_at":"2026-07-14T22:59:40Z","abstract_excerpt":"High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD mo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.13319","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/2607.13319/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.13319","created_at":"2026-07-16T00:22:11.932195+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.13319v1","created_at":"2026-07-16T00:22:11.932195+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.13319","created_at":"2026-07-16T00:22:11.932195+00:00"},{"alias_kind":"pith_short_12","alias_value":"YBWQLKY6N64X","created_at":"2026-07-16T00:22:11.932195+00:00"},{"alias_kind":"pith_short_16","alias_value":"YBWQLKY6N64X4YNM","created_at":"2026-07-16T00:22:11.932195+00:00"},{"alias_kind":"pith_short_8","alias_value":"YBWQLKY6","created_at":"2026-07-16T00:22:11.932195+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE","json":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE.json","graph_json":"https://pith.science/api/pith-number/YBWQLKY6N64X4YNM5DCPUIS7RE/graph.json","events_json":"https://pith.science/api/pith-number/YBWQLKY6N64X4YNM5DCPUIS7RE/events.json","paper":"https://pith.science/paper/YBWQLKY6"},"agent_actions":{"view_html":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE","download_json":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE.json","view_paper":"https://pith.science/paper/YBWQLKY6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.13319&json=true","fetch_graph":"https://pith.science/api/pith-number/YBWQLKY6N64X4YNM5DCPUIS7RE/graph.json","fetch_events":"https://pith.science/api/pith-number/YBWQLKY6N64X4YNM5DCPUIS7RE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE/action/storage_attestation","attest_author":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE/action/author_attestation","sign_citation":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE/action/citation_signature","submit_replication":"https://pith.science/pith/YBWQLKY6N64X4YNM5DCPUIS7RE/action/replication_record"}},"created_at":"2026-07-16T00:22:11.932195+00:00","updated_at":"2026-07-16T00:22:11.932195+00:00"}