{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:YLIMLAE725KPUC4GGVXGNCF5UP","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":"ce8b8ec4807990f55d78021b0f6267e17622b85eac31a25fef0e2dbed4ce6294","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-07T18:41:41Z","title_canon_sha256":"30249ade8ae00cac59c5bd86fa8aae31c3b0fc60ab54ee7e9046f99eee8dbeae"},"schema_version":"1.0","source":{"id":"2305.04352","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.04352","created_at":"2026-07-05T06:07:48Z"},{"alias_kind":"arxiv_version","alias_value":"2305.04352v1","created_at":"2026-07-05T06:07:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.04352","created_at":"2026-07-05T06:07:48Z"},{"alias_kind":"pith_short_12","alias_value":"YLIMLAE725KP","created_at":"2026-07-05T06:07:48Z"},{"alias_kind":"pith_short_16","alias_value":"YLIMLAE725KPUC4G","created_at":"2026-07-05T06:07:48Z"},{"alias_kind":"pith_short_8","alias_value":"YLIMLAE7","created_at":"2026-07-05T06:07:48Z"}],"graph_snapshots":[{"event_id":"sha256:d5cc8182f7c3c76da1edabe92515162c41912eda56d1af64913d6a78c0224cca","target":"graph","created_at":"2026-07-05T06:07:48Z","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/2305.04352/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we consider the task of collision-free trajectory planning for connected self-driving vehicles. We specifically consider communication-critical situations--situations where single-agent systems have blindspots that require multi-agent collaboration. To identify such situations, we propose a method which (1) simulates multi-agent perspectives from real self-driving datasets, (2) finds scenarios that are challenging for isolated agents, and (3) augments scenarios with adversarial obstructions. To overcome these challenges, we propose to extend costmap-based trajectory evaluation to","authors_text":"Nathaniel Moore Glaser, Zsolt Kira","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-07T18:41:41Z","title":"We Need to Talk: Identifying and Overcoming Communication-Critical Scenarios for Self-Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.04352","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":"sha256:7ebac91255a7e735f2dbaa25a31d9cbc45075725426c0b8202b1b3b7faaceafb","target":"record","created_at":"2026-07-05T06:07:48Z","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":"ce8b8ec4807990f55d78021b0f6267e17622b85eac31a25fef0e2dbed4ce6294","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-07T18:41:41Z","title_canon_sha256":"30249ade8ae00cac59c5bd86fa8aae31c3b0fc60ab54ee7e9046f99eee8dbeae"},"schema_version":"1.0","source":{"id":"2305.04352","kind":"arxiv","version":1}},"canonical_sha256":"c2d0c5809fd754fa0b86356e6688bda3d19bedbead37a867b30b18e722436fb5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2d0c5809fd754fa0b86356e6688bda3d19bedbead37a867b30b18e722436fb5","first_computed_at":"2026-07-05T06:07:48.959563Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:07:48.959563Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rlw/rjkCR+m1k3R/GViCGwgyGyVPk48hy4GCiBoidYyNBiJR91bNemTKcmmK7eTeatrnC7qiB6nlkyW0nxLwCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:07:48.960014Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.04352","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7ebac91255a7e735f2dbaa25a31d9cbc45075725426c0b8202b1b3b7faaceafb","sha256:d5cc8182f7c3c76da1edabe92515162c41912eda56d1af64913d6a78c0224cca"],"state_sha256":"4de106e93b28969916b704589ae264cf7db94d58124f919932ce43f16b7fd6bd"}