{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:YHASKDZF6AOUKRXGR4TQ4NHKPF","short_pith_number":"pith:YHASKDZF","canonical_record":{"source":{"id":"2109.12674","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-09-26T18:34:55Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9367e8329aa822fde8c05206120a86632448f02c485ed5771974572b4877a468","abstract_canon_sha256":"a90a53dcb2a6aeb25be4860fa14aeef54259dfb7881eda0328f181989a963710"},"schema_version":"1.0"},"canonical_sha256":"c1c1250f25f01d4546e68f270e34ea797385bfb7a990c8305ef3582729dff097","source":{"kind":"arxiv","id":"2109.12674","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.12674","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2109.12674v3","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12674","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"YHASKDZF6AOU","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"YHASKDZF6AOUKRXG","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"YHASKDZF","created_at":"2026-07-05T04:40:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:YHASKDZF6AOUKRXGR4TQ4NHKPF","target":"record","payload":{"canonical_record":{"source":{"id":"2109.12674","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-09-26T18:34:55Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9367e8329aa822fde8c05206120a86632448f02c485ed5771974572b4877a468","abstract_canon_sha256":"a90a53dcb2a6aeb25be4860fa14aeef54259dfb7881eda0328f181989a963710"},"schema_version":"1.0"},"canonical_sha256":"c1c1250f25f01d4546e68f270e34ea797385bfb7a990c8305ef3582729dff097","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:40:46.828983Z","signature_b64":"smUTAS/CpIdhS4W/UlQdZvm1i4kwLI3fUGI4qUnqBY5KHevkJnrPuhgIuSNnrXEG0k4sSDG0FOJ5bys6lF1LCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c1c1250f25f01d4546e68f270e34ea797385bfb7a990c8305ef3582729dff097","last_reissued_at":"2026-07-05T04:40:46.828482Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:40:46.828482Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.12674","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1BXfyrDiLR7xAeVQxEz9Ee3YOWJqVP/2OuVK0qbtXxbOHeb+g3ygg0ghKtKvIspdWb1FnOUaJlcQKE8PqZZEDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:09:33.647407Z"},"content_sha256":"b3a19769b3325096a705a8f23e6729b4add997ace51b91a89807c72b8b23a59e","schema_version":"1.0","event_id":"sha256:b3a19769b3325096a705a8f23e6729b4add997ace51b91a89807c72b8b23a59e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:YHASKDZF6AOUKRXGR4TQ4NHKPF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Bolei Zhou, Lan Feng, Qihang Zhang, Quanyi Li, Zhenghai Xue, Zhenghao Peng","submitted_at":"2021-09-26T18:34:55Z","abstract_excerpt":"Driving safely requires multiple capabilities from human and intelligent agents, such as the generalizability to unseen environments, the safety awareness of the surrounding traffic, and the decision-making in complex multi-agent settings. Despite the great success of Reinforcement Learning (RL), most of the RL research works investigate each capability separately due to the lack of integrated environments. In this work, we develop a new driving simulation platform called MetaDrive to support the research of generalizable reinforcement learning algorithms for machine autonomy. MetaDrive is hig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12674","kind":"arxiv","version":3},"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/2109.12674/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":"2026-07-05T04:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TMMSa676hHjGOQd9HBX4y+VDa006fr0xF3VwSkNeiHEIpCrqSCLNxToI1t2x+rqvv+WgYMgUp1rE8Xew3VVoCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:09:33.647976Z"},"content_sha256":"f06e32bdef315f65b8f9abfaf4a50f3fd8eecdbc0b135039f6add6a441628841","schema_version":"1.0","event_id":"sha256:f06e32bdef315f65b8f9abfaf4a50f3fd8eecdbc0b135039f6add6a441628841"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/bundle.json","state_url":"https://pith.science/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/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":"2026-08-04T15:09:33Z","links":{"resolver":"https://pith.science/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF","bundle":"https://pith.science/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/bundle.json","state":"https://pith.science/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YHASKDZF6AOUKRXGR4TQ4NHKPF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:YHASKDZF6AOUKRXGR4TQ4NHKPF","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":"a90a53dcb2a6aeb25be4860fa14aeef54259dfb7881eda0328f181989a963710","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-09-26T18:34:55Z","title_canon_sha256":"9367e8329aa822fde8c05206120a86632448f02c485ed5771974572b4877a468"},"schema_version":"1.0","source":{"id":"2109.12674","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.12674","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2109.12674v3","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12674","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"YHASKDZF6AOU","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"YHASKDZF6AOUKRXG","created_at":"2026-07-05T04:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"YHASKDZF","created_at":"2026-07-05T04:40:46Z"}],"graph_snapshots":[{"event_id":"sha256:f06e32bdef315f65b8f9abfaf4a50f3fd8eecdbc0b135039f6add6a441628841","target":"graph","created_at":"2026-07-05T04:40:46Z","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/2109.12674/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Driving safely requires multiple capabilities from human and intelligent agents, such as the generalizability to unseen environments, the safety awareness of the surrounding traffic, and the decision-making in complex multi-agent settings. Despite the great success of Reinforcement Learning (RL), most of the RL research works investigate each capability separately due to the lack of integrated environments. In this work, we develop a new driving simulation platform called MetaDrive to support the research of generalizable reinforcement learning algorithms for machine autonomy. MetaDrive is hig","authors_text":"Bolei Zhou, Lan Feng, Qihang Zhang, Quanyi Li, Zhenghai Xue, Zhenghao Peng","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-09-26T18:34:55Z","title":"MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12674","kind":"arxiv","version":3},"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:b3a19769b3325096a705a8f23e6729b4add997ace51b91a89807c72b8b23a59e","target":"record","created_at":"2026-07-05T04:40:46Z","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":"a90a53dcb2a6aeb25be4860fa14aeef54259dfb7881eda0328f181989a963710","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-09-26T18:34:55Z","title_canon_sha256":"9367e8329aa822fde8c05206120a86632448f02c485ed5771974572b4877a468"},"schema_version":"1.0","source":{"id":"2109.12674","kind":"arxiv","version":3}},"canonical_sha256":"c1c1250f25f01d4546e68f270e34ea797385bfb7a990c8305ef3582729dff097","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c1c1250f25f01d4546e68f270e34ea797385bfb7a990c8305ef3582729dff097","first_computed_at":"2026-07-05T04:40:46.828482Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:40:46.828482Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"smUTAS/CpIdhS4W/UlQdZvm1i4kwLI3fUGI4qUnqBY5KHevkJnrPuhgIuSNnrXEG0k4sSDG0FOJ5bys6lF1LCA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:40:46.828983Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.12674","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b3a19769b3325096a705a8f23e6729b4add997ace51b91a89807c72b8b23a59e","sha256:f06e32bdef315f65b8f9abfaf4a50f3fd8eecdbc0b135039f6add6a441628841"],"state_sha256":"a9eec0b21b2c8147b182c2ae2137cfd6d2b0c41d4ab02ab37287f447602936aa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+DvP+PY4FBknydkvy8P+f1dQHPkgPJ8P7yllHxYKqOXtY4fNXsvwGW5soxkU3yfTzK3RxnQksnvQJDmj0JytAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T15:09:33.674192Z","bundle_sha256":"656e1ca9ec11b399be13d41c51bb5d2ca1dadc824a84b9f8ae6d5ef8dd302a87"}}