{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:Z5ABMBO5R73BTRXX722I5REMWB","short_pith_number":"pith:Z5ABMBO5","schema_version":"1.0","canonical_sha256":"cf401605dd8ff619c6f7feb48ec48cb07b18444a4d0a547069efc723953146e0","source":{"kind":"arxiv","id":"2505.21734","version":1},"attestation_state":"computed","paper":{"title":"MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Felix Jahncke, Johannes Betz","submitted_at":"2025-05-27T20:23:21Z","abstract_excerpt":"Developing robust, efficient navigation algorithms is challenging. Rule-based methods offer interpretability and modularity but struggle with learning from large datasets, while end-to-end neural networks excel in learning but lack transparency and modularity. In this paper, we present MIND-Stack, a modular software stack consisting of a localization network and a Stanley Controller with intermediate human interpretable state representations and end-to-end differentiability. Our approach enables the upstream localization module to reduce the downstream control error, extending its role beyond "},"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":"2505.21734","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T20:23:21Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"22bc49f02289266d71ac0e4a4bf853c8f6216c701a5f1ffdc80c8ee87516595e","abstract_canon_sha256":"8f80baa829ab4bf6e566f6d5fb513f7401fc6f0d244e1550c00e28c839aaf2f9"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:11:02.658748Z","signature_b64":"6T2a+orokjB8hVidEk3ZV4UfhSk0IVaq/r0BKf5JKYLvM8glN5UpxNYV1efxthdu9bimpWTY7MMeUuG5rwbVAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cf401605dd8ff619c6f7feb48ec48cb07b18444a4d0a547069efc723953146e0","last_reissued_at":"2026-07-05T11:11:02.658124Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:11:02.658124Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Felix Jahncke, Johannes Betz","submitted_at":"2025-05-27T20:23:21Z","abstract_excerpt":"Developing robust, efficient navigation algorithms is challenging. Rule-based methods offer interpretability and modularity but struggle with learning from large datasets, while end-to-end neural networks excel in learning but lack transparency and modularity. In this paper, we present MIND-Stack, a modular software stack consisting of a localization network and a Stanley Controller with intermediate human interpretable state representations and end-to-end differentiability. Our approach enables the upstream localization module to reduce the downstream control error, extending its role beyond "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.21734","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/2505.21734/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":"2505.21734","created_at":"2026-07-05T11:11:02.658224+00:00"},{"alias_kind":"arxiv_version","alias_value":"2505.21734v1","created_at":"2026-07-05T11:11:02.658224+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.21734","created_at":"2026-07-05T11:11:02.658224+00:00"},{"alias_kind":"pith_short_12","alias_value":"Z5ABMBO5R73B","created_at":"2026-07-05T11:11:02.658224+00:00"},{"alias_kind":"pith_short_16","alias_value":"Z5ABMBO5R73BTRXX","created_at":"2026-07-05T11:11:02.658224+00:00"},{"alias_kind":"pith_short_8","alias_value":"Z5ABMBO5","created_at":"2026-07-05T11:11:02.658224+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/Z5ABMBO5R73BTRXX722I5REMWB","json":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB.json","graph_json":"https://pith.science/api/pith-number/Z5ABMBO5R73BTRXX722I5REMWB/graph.json","events_json":"https://pith.science/api/pith-number/Z5ABMBO5R73BTRXX722I5REMWB/events.json","paper":"https://pith.science/paper/Z5ABMBO5"},"agent_actions":{"view_html":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB","download_json":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB.json","view_paper":"https://pith.science/paper/Z5ABMBO5","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2505.21734&json=true","fetch_graph":"https://pith.science/api/pith-number/Z5ABMBO5R73BTRXX722I5REMWB/graph.json","fetch_events":"https://pith.science/api/pith-number/Z5ABMBO5R73BTRXX722I5REMWB/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB/action/storage_attestation","attest_author":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB/action/author_attestation","sign_citation":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB/action/citation_signature","submit_replication":"https://pith.science/pith/Z5ABMBO5R73BTRXX722I5REMWB/action/replication_record"}},"created_at":"2026-07-05T11:11:02.658224+00:00","updated_at":"2026-07-05T11:11:02.658224+00:00"}