{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ZJ263CB3XTQ24U4VGXVDYURU2X","short_pith_number":"pith:ZJ263CB3","canonical_record":{"source":{"id":"2605.22600","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T15:15:16Z","cross_cats_sorted":[],"title_canon_sha256":"e09ada003f20872ce53872e7877af80282365a1ac42c879bf1f606a731034658","abstract_canon_sha256":"ba9d7fbb8d089f335fc109bb7d7af962e421a65dc374ac6530edb579b1b82cf9"},"schema_version":"1.0"},"canonical_sha256":"ca75ed883bbce1ae539535ea3c5234d5df1c86d8d41f4b691f1c8587d06f16dd","source":{"kind":"arxiv","id":"2605.22600","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.22600","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"arxiv_version","alias_value":"2605.22600v1","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.22600","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_12","alias_value":"ZJ263CB3XTQ2","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_16","alias_value":"ZJ263CB3XTQ24U4V","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_8","alias_value":"ZJ263CB3","created_at":"2026-05-22T01:04:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ZJ263CB3XTQ24U4VGXVDYURU2X","target":"record","payload":{"canonical_record":{"source":{"id":"2605.22600","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T15:15:16Z","cross_cats_sorted":[],"title_canon_sha256":"e09ada003f20872ce53872e7877af80282365a1ac42c879bf1f606a731034658","abstract_canon_sha256":"ba9d7fbb8d089f335fc109bb7d7af962e421a65dc374ac6530edb579b1b82cf9"},"schema_version":"1.0"},"canonical_sha256":"ca75ed883bbce1ae539535ea3c5234d5df1c86d8d41f4b691f1c8587d06f16dd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-22T01:04:59.565398Z","signature_b64":"2TaHfEjGWhJxp7KTQgn+P6OGkOOsdDysldZhgKsV+wrPrJ1V54ApjwB/OzzJYFtWHysRuPEcEWECV/jF39ENAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ca75ed883bbce1ae539535ea3c5234d5df1c86d8d41f4b691f1c8587d06f16dd","last_reissued_at":"2026-05-22T01:04:59.564570Z","signature_status":"signed_v1","first_computed_at":"2026-05-22T01:04:59.564570Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.22600","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-22T01:04:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Lu5ly6DQ+BSLg4r8qRvjr6+IWJXf9CEIUD4Eq9fdxAtPK6cGN0otro93hD5xfVy+Rg59ABXnRdLbidY1ugQACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T06:37:53.830671Z"},"content_sha256":"8494e1f76680f20a620e2fe51e27bc82b1915d21403d6ca1647d71016a2b65f1","schema_version":"1.0","event_id":"sha256:8494e1f76680f20a620e2fe51e27bc82b1915d21403d6ca1647d71016a2b65f1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ZJ263CB3XTQ24U4VGXVDYURU2X","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dirk Wollherr, Marion Leibold, Martin Buss, Ramkrishna Chaudhari, Zekun Xing","submitted_at":"2026-05-21T15:15:16Z","abstract_excerpt":"Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive conservatism. Stochastic Model Predictive Control (SMPC) reduces trajectory-level conservatism through chance constraints, yet remains conservative with respect to intention uncertainty since constraints must hold across all intentions. We present a novel combination of SMPC and the branching structure, enabling the planner to generate distinct trajectories "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.22600","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/2605.22600/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":"2026-05-22T01:04:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HHFHHEyVILcvsYu8miydUOY0KybBM8p7sJyIBM6q40QrikQI4E+P8gswfD4HQuF3ob1HHMa185d21z3IUBOCCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T06:37:53.831414Z"},"content_sha256":"52a7d144a99ec1604c1a642f13213bb96bb3022cffd30cc4d2db59261c224d8c","schema_version":"1.0","event_id":"sha256:52a7d144a99ec1604c1a642f13213bb96bb3022cffd30cc4d2db59261c224d8c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/bundle.json","state_url":"https://pith.science/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/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":"2026-05-25T06:37:53Z","links":{"resolver":"https://pith.science/pith/ZJ263CB3XTQ24U4VGXVDYURU2X","bundle":"https://pith.science/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/bundle.json","state":"https://pith.science/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZJ263CB3XTQ24U4VGXVDYURU2X/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZJ263CB3XTQ24U4VGXVDYURU2X","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":"ba9d7fbb8d089f335fc109bb7d7af962e421a65dc374ac6530edb579b1b82cf9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T15:15:16Z","title_canon_sha256":"e09ada003f20872ce53872e7877af80282365a1ac42c879bf1f606a731034658"},"schema_version":"1.0","source":{"id":"2605.22600","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.22600","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"arxiv_version","alias_value":"2605.22600v1","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.22600","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_12","alias_value":"ZJ263CB3XTQ2","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_16","alias_value":"ZJ263CB3XTQ24U4V","created_at":"2026-05-22T01:04:59Z"},{"alias_kind":"pith_short_8","alias_value":"ZJ263CB3","created_at":"2026-05-22T01:04:59Z"}],"graph_snapshots":[{"event_id":"sha256:52a7d144a99ec1604c1a642f13213bb96bb3022cffd30cc4d2db59261c224d8c","target":"graph","created_at":"2026-05-22T01:04:59Z","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/2605.22600/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive conservatism. Stochastic Model Predictive Control (SMPC) reduces trajectory-level conservatism through chance constraints, yet remains conservative with respect to intention uncertainty since constraints must hold across all intentions. We present a novel combination of SMPC and the branching structure, enabling the planner to generate distinct trajectories ","authors_text":"Dirk Wollherr, Marion Leibold, Martin Buss, Ramkrishna Chaudhari, Zekun Xing","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T15:15:16Z","title":"Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.22600","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":"sha256:8494e1f76680f20a620e2fe51e27bc82b1915d21403d6ca1647d71016a2b65f1","target":"record","created_at":"2026-05-22T01:04:59Z","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":"ba9d7fbb8d089f335fc109bb7d7af962e421a65dc374ac6530edb579b1b82cf9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-21T15:15:16Z","title_canon_sha256":"e09ada003f20872ce53872e7877af80282365a1ac42c879bf1f606a731034658"},"schema_version":"1.0","source":{"id":"2605.22600","kind":"arxiv","version":1}},"canonical_sha256":"ca75ed883bbce1ae539535ea3c5234d5df1c86d8d41f4b691f1c8587d06f16dd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca75ed883bbce1ae539535ea3c5234d5df1c86d8d41f4b691f1c8587d06f16dd","first_computed_at":"2026-05-22T01:04:59.564570Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-22T01:04:59.564570Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2TaHfEjGWhJxp7KTQgn+P6OGkOOsdDysldZhgKsV+wrPrJ1V54ApjwB/OzzJYFtWHysRuPEcEWECV/jF39ENAw==","signature_status":"signed_v1","signed_at":"2026-05-22T01:04:59.565398Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.22600","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8494e1f76680f20a620e2fe51e27bc82b1915d21403d6ca1647d71016a2b65f1","sha256:52a7d144a99ec1604c1a642f13213bb96bb3022cffd30cc4d2db59261c224d8c"],"state_sha256":"12b3c26720de20294a4c62d0cdb52d4eec55023eecfed1ffada410685c6f3bff"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z0F5C66LW/L21fmP/4FmNhkcXZpNHkdVmUSddTjftUhPUUY3MY1YO30DK/2y9tfJNZz4z8PzFssZa4sz3NGvDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T06:37:53.834558Z","bundle_sha256":"e5b51295c25f942ed41ab4018fd782a5a02b8bf0d00fd20ec1aab9ffd5ff451f"}}