{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:Z3GPTP4UBSQZXXKBCZZBHG3LSK","short_pith_number":"pith:Z3GPTP4U","canonical_record":{"source":{"id":"2504.01941","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-04-02T17:47:23Z","cross_cats_sorted":[],"title_canon_sha256":"b1be7dafa6da35d828fe3a151272762ff37f70b18fb8afb66dad32bc0d3acfe8","abstract_canon_sha256":"aee50db6e30d9489558d33cde674641de4664741d3c5027050166873da1d5648"},"schema_version":"1.0"},"canonical_sha256":"ceccf9bf940ca19bdd411672139b6b92be7d1befe004ab69f40170c00c762d2d","source":{"kind":"arxiv","id":"2504.01941","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.01941","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"arxiv_version","alias_value":"2504.01941v2","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.01941","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_12","alias_value":"Z3GPTP4UBSQZ","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_16","alias_value":"Z3GPTP4UBSQZXXKB","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_8","alias_value":"Z3GPTP4U","created_at":"2026-07-05T10:46:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:Z3GPTP4UBSQZXXKBCZZBHG3LSK","target":"record","payload":{"canonical_record":{"source":{"id":"2504.01941","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-04-02T17:47:23Z","cross_cats_sorted":[],"title_canon_sha256":"b1be7dafa6da35d828fe3a151272762ff37f70b18fb8afb66dad32bc0d3acfe8","abstract_canon_sha256":"aee50db6e30d9489558d33cde674641de4664741d3c5027050166873da1d5648"},"schema_version":"1.0"},"canonical_sha256":"ceccf9bf940ca19bdd411672139b6b92be7d1befe004ab69f40170c00c762d2d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:46:42.309104Z","signature_b64":"kU87dfePcCgJH65mNBXRn8XB2mn1wlCyih8VOxBgpRD7DaoN2RBolmfxU1BIGRqz8Dw8u1tUcqCNZik3pevpBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ceccf9bf940ca19bdd411672139b6b92be7d1befe004ab69f40170c00c762d2d","last_reissued_at":"2026-07-05T10:46:42.308601Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:46:42.308601Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.01941","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:46:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MDGaJn5cHLnu8/8lME/z4AT50qumd71b8SY8L9w00yvzkP6d5SVwHwIpZBLuZ1wczrO66P42mZcZVw1+d/H5CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:45:53.144570Z"},"content_sha256":"e6772d77a018737fc46a3feef4a24fcc9f5a8929d01b8901826f0de5b807dc6b","schema_version":"1.0","event_id":"sha256:e6772d77a018737fc46a3feef4a24fcc9f5a8929d01b8901826f0de5b807dc6b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:Z3GPTP4UBSQZXXKBCZZBHG3LSK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"End-to-End Driving with Online Trajectory Evaluation via BEV World Model","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Jiawei He, Lue Fan, Yang Liu, Yingyan Li, Yuqi Wang, Zhaoxiang Zhang","submitted_at":"2025-04-02T17:47:23Z","abstract_excerpt":"End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is indispensable to ensure safety. By forecasting the future outcomes of a given trajectory, trajectory evaluation becomes much more effective. This goal can be achieved by employing a world model to capture environmental dynamics and predict future states. Therefore, we propose an end-to-end driving framework WoTE, which leverages a BEV World model to predict futu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.01941","kind":"arxiv","version":2},"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/2504.01941/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":"2026-07-05T10:46:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"b7/O/Fm6UoPIuvAYssKcTA7XlqM7A2DtmPdIg8TwBZOXeXaR3mbMIi3ijAVHamLZuxuk2haCtJ0s6jPkoVSTCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T01:45:53.145452Z"},"content_sha256":"a826831ab749fc0b8875e286965f0d0ec709ab83f15598b697a4657ddadfa8d6","schema_version":"1.0","event_id":"sha256:a826831ab749fc0b8875e286965f0d0ec709ab83f15598b697a4657ddadfa8d6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/bundle.json","state_url":"https://pith.science/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/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":"2026-08-05T01:45:53Z","links":{"resolver":"https://pith.science/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK","bundle":"https://pith.science/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/bundle.json","state":"https://pith.science/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Z3GPTP4UBSQZXXKBCZZBHG3LSK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:Z3GPTP4UBSQZXXKBCZZBHG3LSK","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":"aee50db6e30d9489558d33cde674641de4664741d3c5027050166873da1d5648","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-04-02T17:47:23Z","title_canon_sha256":"b1be7dafa6da35d828fe3a151272762ff37f70b18fb8afb66dad32bc0d3acfe8"},"schema_version":"1.0","source":{"id":"2504.01941","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.01941","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"arxiv_version","alias_value":"2504.01941v2","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.01941","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_12","alias_value":"Z3GPTP4UBSQZ","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_16","alias_value":"Z3GPTP4UBSQZXXKB","created_at":"2026-07-05T10:46:42Z"},{"alias_kind":"pith_short_8","alias_value":"Z3GPTP4U","created_at":"2026-07-05T10:46:42Z"}],"graph_snapshots":[{"event_id":"sha256:a826831ab749fc0b8875e286965f0d0ec709ab83f15598b697a4657ddadfa8d6","target":"graph","created_at":"2026-07-05T10:46:42Z","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/2504.01941/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is indispensable to ensure safety. By forecasting the future outcomes of a given trajectory, trajectory evaluation becomes much more effective. This goal can be achieved by employing a world model to capture environmental dynamics and predict future states. Therefore, we propose an end-to-end driving framework WoTE, which leverages a BEV World model to predict futu","authors_text":"Jiawei He, Lue Fan, Yang Liu, Yingyan Li, Yuqi Wang, Zhaoxiang Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-04-02T17:47:23Z","title":"End-to-End Driving with Online Trajectory Evaluation via BEV World Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.01941","kind":"arxiv","version":2},"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:e6772d77a018737fc46a3feef4a24fcc9f5a8929d01b8901826f0de5b807dc6b","target":"record","created_at":"2026-07-05T10:46:42Z","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":"aee50db6e30d9489558d33cde674641de4664741d3c5027050166873da1d5648","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2025-04-02T17:47:23Z","title_canon_sha256":"b1be7dafa6da35d828fe3a151272762ff37f70b18fb8afb66dad32bc0d3acfe8"},"schema_version":"1.0","source":{"id":"2504.01941","kind":"arxiv","version":2}},"canonical_sha256":"ceccf9bf940ca19bdd411672139b6b92be7d1befe004ab69f40170c00c762d2d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ceccf9bf940ca19bdd411672139b6b92be7d1befe004ab69f40170c00c762d2d","first_computed_at":"2026-07-05T10:46:42.308601Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:46:42.308601Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kU87dfePcCgJH65mNBXRn8XB2mn1wlCyih8VOxBgpRD7DaoN2RBolmfxU1BIGRqz8Dw8u1tUcqCNZik3pevpBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:46:42.309104Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.01941","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e6772d77a018737fc46a3feef4a24fcc9f5a8929d01b8901826f0de5b807dc6b","sha256:a826831ab749fc0b8875e286965f0d0ec709ab83f15598b697a4657ddadfa8d6"],"state_sha256":"6a3a8283cc712360433a99e91f66cf86b62b2d5b21dbca701f0eac32acfedc4b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mbWi+Ai8Gny6hZGRpKBQj8WS6DYobSjXCwSdzRL5xbyUCv/VkYgpRd1KSgSIO9jAk+Nqr54OiBdEHZ5p/itZCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T01:45:53.151391Z","bundle_sha256":"dff7f990fb7f5efb3529e0efdd51ab0261263b4d89e2499a71c5a30ee0d23e7c"}}