{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:VDKKENWPHH3A3RWUIBX5BESNSK","short_pith_number":"pith:VDKKENWP","canonical_record":{"source":{"id":"2211.12111","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-22T09:26:54Z","cross_cats_sorted":[],"title_canon_sha256":"92f9f75c4d9515b19c692e7c4050020720e83087b8f2c3ae6caf5f32fe5c46f3","abstract_canon_sha256":"bfd5c6ccb7a467d3f2d460d82cf6f8a697e3d5a53f01e4be02a5d550872f522b"},"schema_version":"1.0"},"canonical_sha256":"a8d4a236cf39f60dc6d4406fd0924d92a364faab71027a6b4e595e6bf874f571","source":{"kind":"arxiv","id":"2211.12111","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.12111","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"arxiv_version","alias_value":"2211.12111v3","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.12111","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_12","alias_value":"VDKKENWPHH3A","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_16","alias_value":"VDKKENWPHH3A3RWU","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_8","alias_value":"VDKKENWP","created_at":"2026-07-05T06:24:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:VDKKENWPHH3A3RWUIBX5BESNSK","target":"record","payload":{"canonical_record":{"source":{"id":"2211.12111","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-22T09:26:54Z","cross_cats_sorted":[],"title_canon_sha256":"92f9f75c4d9515b19c692e7c4050020720e83087b8f2c3ae6caf5f32fe5c46f3","abstract_canon_sha256":"bfd5c6ccb7a467d3f2d460d82cf6f8a697e3d5a53f01e4be02a5d550872f522b"},"schema_version":"1.0"},"canonical_sha256":"a8d4a236cf39f60dc6d4406fd0924d92a364faab71027a6b4e595e6bf874f571","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:24:26.674386Z","signature_b64":"SmUpDV45/MU0zFAVwugRc519q2nxTJHpWspf4Mil+rWSAU90W+v4OPloOhf8KQ/ZRjNH7klJcRWerzvB2qKACw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a8d4a236cf39f60dc6d4406fd0924d92a364faab71027a6b4e595e6bf874f571","last_reissued_at":"2026-07-05T06:24:26.673901Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:24:26.673901Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.12111","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":"2026-07-05T06:24:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jewlAZSKjTe24QMq4BBuFmDI9/MEB1+7Pi0XhAiv3Yi7pkfMdfFUNtNPPYt1Sf7tywR/fyAxoZt/jlZXMcvlAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T07:32:39.561498Z"},"content_sha256":"dc9f5db942ec5bb3241e1c019ae60bddf7d7b8c692324ae56bf93682a6a8eeb6","schema_version":"1.0","event_id":"sha256:dc9f5db942ec5bb3241e1c019ae60bddf7d7b8c692324ae56bf93682a6a8eeb6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:VDKKENWPHH3A3RWUIBX5BESNSK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son","submitted_at":"2022-11-22T09:26:54Z","abstract_excerpt":"This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy, and measure its performance in open-loop and closed-loop with metrics related to safety, comfort and similarity to human driving characteristics. We also demonstrate the value of augmenting open-loop behavioral cloning with closed-loop training for a more robust learning, approximating the policy gradient through time with the state space model used by the MPC"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.12111","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/2211.12111/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":"2026-07-05T06:24:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Mai7RxDP98fTBaHH5fpZwvySabgXmMPltkwkRZo+ITkBbQHojiUZxSDBQiRgFepxgMUv//9n2B8m+yWtfcBRAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T07:32:39.561993Z"},"content_sha256":"4ecc362b8b96a24559fe821f47ed660dadf5dffd2f796b29235429ce0dc1b131","schema_version":"1.0","event_id":"sha256:4ecc362b8b96a24559fe821f47ed660dadf5dffd2f796b29235429ce0dc1b131"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VDKKENWPHH3A3RWUIBX5BESNSK/bundle.json","state_url":"https://pith.science/pith/VDKKENWPHH3A3RWUIBX5BESNSK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VDKKENWPHH3A3RWUIBX5BESNSK/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":"2026-08-15T07:32:39Z","links":{"resolver":"https://pith.science/pith/VDKKENWPHH3A3RWUIBX5BESNSK","bundle":"https://pith.science/pith/VDKKENWPHH3A3RWUIBX5BESNSK/bundle.json","state":"https://pith.science/pith/VDKKENWPHH3A3RWUIBX5BESNSK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VDKKENWPHH3A3RWUIBX5BESNSK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:VDKKENWPHH3A3RWUIBX5BESNSK","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":"bfd5c6ccb7a467d3f2d460d82cf6f8a697e3d5a53f01e4be02a5d550872f522b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-22T09:26:54Z","title_canon_sha256":"92f9f75c4d9515b19c692e7c4050020720e83087b8f2c3ae6caf5f32fe5c46f3"},"schema_version":"1.0","source":{"id":"2211.12111","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.12111","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"arxiv_version","alias_value":"2211.12111v3","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.12111","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_12","alias_value":"VDKKENWPHH3A","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_16","alias_value":"VDKKENWPHH3A3RWU","created_at":"2026-07-05T06:24:26Z"},{"alias_kind":"pith_short_8","alias_value":"VDKKENWP","created_at":"2026-07-05T06:24:26Z"}],"graph_snapshots":[{"event_id":"sha256:4ecc362b8b96a24559fe821f47ed660dadf5dffd2f796b29235429ce0dc1b131","target":"graph","created_at":"2026-07-05T06:24:26Z","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/2211.12111/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy, and measure its performance in open-loop and closed-loop with metrics related to safety, comfort and similarity to human driving characteristics. We also demonstrate the value of augmenting open-loop behavioral cloning with closed-loop training for a more robust learning, approximating the policy gradient through time with the state space model used by the MPC","authors_text":"Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars, Tong Duy Son","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-22T09:26:54Z","title":"Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.12111","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:dc9f5db942ec5bb3241e1c019ae60bddf7d7b8c692324ae56bf93682a6a8eeb6","target":"record","created_at":"2026-07-05T06:24:26Z","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":"bfd5c6ccb7a467d3f2d460d82cf6f8a697e3d5a53f01e4be02a5d550872f522b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-22T09:26:54Z","title_canon_sha256":"92f9f75c4d9515b19c692e7c4050020720e83087b8f2c3ae6caf5f32fe5c46f3"},"schema_version":"1.0","source":{"id":"2211.12111","kind":"arxiv","version":3}},"canonical_sha256":"a8d4a236cf39f60dc6d4406fd0924d92a364faab71027a6b4e595e6bf874f571","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a8d4a236cf39f60dc6d4406fd0924d92a364faab71027a6b4e595e6bf874f571","first_computed_at":"2026-07-05T06:24:26.673901Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:24:26.673901Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SmUpDV45/MU0zFAVwugRc519q2nxTJHpWspf4Mil+rWSAU90W+v4OPloOhf8KQ/ZRjNH7klJcRWerzvB2qKACw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:24:26.674386Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.12111","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dc9f5db942ec5bb3241e1c019ae60bddf7d7b8c692324ae56bf93682a6a8eeb6","sha256:4ecc362b8b96a24559fe821f47ed660dadf5dffd2f796b29235429ce0dc1b131"],"state_sha256":"40ee846186a0455708806a2348e0e921548ffd0b2786d23af3c299b3ad4b6160"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/wbqz2VEjvLN2KCzSSy/66qkY8tjOK7J+MwPISotbo4zII5AalDQ1BtckpjJQj9WvF7cSQj4rrPXi3TKIO8QDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T07:32:39.567603Z","bundle_sha256":"184e5d9aeaee0b8594d561ff567ded48dcbc7026459758862f08e4f5ffc325c7"}}