{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ZMHOH3BK5UIKX6RNWY7AE7MX7O","short_pith_number":"pith:ZMHOH3BK","canonical_record":{"source":{"id":"2606.02105","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-01T11:35:35Z","cross_cats_sorted":[],"title_canon_sha256":"85df1bb487581d3c103bc0b305300ab15cd11663302d7226133515d19a181406","abstract_canon_sha256":"021adb12fe50b3d77c57615f9c79870447a53748b8779b0eaa17b9b66a779594"},"schema_version":"1.0"},"canonical_sha256":"cb0ee3ec2aed10abfa2db63e027d97fb9efa149552c1fcceb3f570089c7fd3bf","source":{"kind":"arxiv","id":"2606.02105","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.02105","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"arxiv_version","alias_value":"2606.02105v1","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.02105","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZMHOH3BK5UIK","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_16","alias_value":"ZMHOH3BK5UIKX6RN","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_8","alias_value":"ZMHOH3BK","created_at":"2026-06-02T02:05:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ZMHOH3BK5UIKX6RNWY7AE7MX7O","target":"record","payload":{"canonical_record":{"source":{"id":"2606.02105","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-01T11:35:35Z","cross_cats_sorted":[],"title_canon_sha256":"85df1bb487581d3c103bc0b305300ab15cd11663302d7226133515d19a181406","abstract_canon_sha256":"021adb12fe50b3d77c57615f9c79870447a53748b8779b0eaa17b9b66a779594"},"schema_version":"1.0"},"canonical_sha256":"cb0ee3ec2aed10abfa2db63e027d97fb9efa149552c1fcceb3f570089c7fd3bf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-02T02:05:06.632576Z","signature_b64":"hKpHvczGThTBlxbweywaU5kj1E97KwfgFeQrM6hLUlFqk1nUCV918lTPEUfVrbE+HB3Vv4+WEmHfZlMx4gFJDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cb0ee3ec2aed10abfa2db63e027d97fb9efa149552c1fcceb3f570089c7fd3bf","last_reissued_at":"2026-06-02T02:05:06.632195Z","signature_status":"signed_v1","first_computed_at":"2026-06-02T02:05:06.632195Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.02105","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":"2026-06-02T02:05:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qqbV5/w8N4KJ0aDBoQSz8h+ram5IF7F5wGpk36WhVhn1UkmWvvEOuhIradEnzrsl7ROuFjfofBgn5TJYYhV5CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T21:39:01.084376Z"},"content_sha256":"0f1d7f68bc2d5b67c21fb8f31428c6bb21ab4c6ddf8955a3e36c70e7a39c3be9","schema_version":"1.0","event_id":"sha256:0f1d7f68bc2d5b67c21fb8f31428c6bb21ab4c6ddf8955a3e36c70e7a39c3be9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ZMHOH3BK5UIKX6RNWY7AE7MX7O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multimodal Action Diffusion for Robust End-to-End Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Antonio M. L\\'opez Pe\\~na, Diego Porres, Gabriel Villalonga Pineda, Jorge Daniel Rodr\\'iguez-Vidal","submitted_at":"2026-06-01T11:35:35Z","abstract_excerpt":"End-to-End Autonomous Driving (E2E-AD) systems have largely converged on predicting intermediate trajectory waypoints, delegating final control to hand-crafted controllers with GPS access. Direct control-signal prediction (outputting throttle, steer and brake in an end-to-end fashion) remains underexplored, and critically, the role of action multimodality in such systems is not well understood. We argue that moving beyond deterministic, single-action outputs is not merely a modelling choice, but a key driver of driving performance, representational quality, and training stability. To validate "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.02105","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/2606.02105/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":"2026-06-02T02:05:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BrEzWuui02ffHwsRyriZkKbtaDLZojSQcP7ZN9uufMmSiH+/fgUoHvi+C6i7l5Ser1rwY8qryhRpdMXU6FsSBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T21:39:01.084744Z"},"content_sha256":"d4c753b61519c584831ad463861aa720f19b2330d5b942a6c56bf687c042f53c","schema_version":"1.0","event_id":"sha256:d4c753b61519c584831ad463861aa720f19b2330d5b942a6c56bf687c042f53c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/bundle.json","state_url":"https://pith.science/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/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":"2026-07-03T21:39:01Z","links":{"resolver":"https://pith.science/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O","bundle":"https://pith.science/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/bundle.json","state":"https://pith.science/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZMHOH3BK5UIKX6RNWY7AE7MX7O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZMHOH3BK5UIKX6RNWY7AE7MX7O","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":"021adb12fe50b3d77c57615f9c79870447a53748b8779b0eaa17b9b66a779594","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-01T11:35:35Z","title_canon_sha256":"85df1bb487581d3c103bc0b305300ab15cd11663302d7226133515d19a181406"},"schema_version":"1.0","source":{"id":"2606.02105","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.02105","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"arxiv_version","alias_value":"2606.02105v1","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.02105","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZMHOH3BK5UIK","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_16","alias_value":"ZMHOH3BK5UIKX6RN","created_at":"2026-06-02T02:05:06Z"},{"alias_kind":"pith_short_8","alias_value":"ZMHOH3BK","created_at":"2026-06-02T02:05:06Z"}],"graph_snapshots":[{"event_id":"sha256:d4c753b61519c584831ad463861aa720f19b2330d5b942a6c56bf687c042f53c","target":"graph","created_at":"2026-06-02T02:05:06Z","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/2606.02105/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-End Autonomous Driving (E2E-AD) systems have largely converged on predicting intermediate trajectory waypoints, delegating final control to hand-crafted controllers with GPS access. Direct control-signal prediction (outputting throttle, steer and brake in an end-to-end fashion) remains underexplored, and critically, the role of action multimodality in such systems is not well understood. We argue that moving beyond deterministic, single-action outputs is not merely a modelling choice, but a key driver of driving performance, representational quality, and training stability. To validate ","authors_text":"Antonio M. L\\'opez Pe\\~na, Diego Porres, Gabriel Villalonga Pineda, Jorge Daniel Rodr\\'iguez-Vidal","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-01T11:35:35Z","title":"Multimodal Action Diffusion for Robust End-to-End Autonomous Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.02105","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":"sha256:0f1d7f68bc2d5b67c21fb8f31428c6bb21ab4c6ddf8955a3e36c70e7a39c3be9","target":"record","created_at":"2026-06-02T02:05:06Z","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":"021adb12fe50b3d77c57615f9c79870447a53748b8779b0eaa17b9b66a779594","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CV","submitted_at":"2026-06-01T11:35:35Z","title_canon_sha256":"85df1bb487581d3c103bc0b305300ab15cd11663302d7226133515d19a181406"},"schema_version":"1.0","source":{"id":"2606.02105","kind":"arxiv","version":1}},"canonical_sha256":"cb0ee3ec2aed10abfa2db63e027d97fb9efa149552c1fcceb3f570089c7fd3bf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cb0ee3ec2aed10abfa2db63e027d97fb9efa149552c1fcceb3f570089c7fd3bf","first_computed_at":"2026-06-02T02:05:06.632195Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T02:05:06.632195Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hKpHvczGThTBlxbweywaU5kj1E97KwfgFeQrM6hLUlFqk1nUCV918lTPEUfVrbE+HB3Vv4+WEmHfZlMx4gFJDw==","signature_status":"signed_v1","signed_at":"2026-06-02T02:05:06.632576Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.02105","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0f1d7f68bc2d5b67c21fb8f31428c6bb21ab4c6ddf8955a3e36c70e7a39c3be9","sha256:d4c753b61519c584831ad463861aa720f19b2330d5b942a6c56bf687c042f53c"],"state_sha256":"2fa32dcbf257b86068cf649aad856470ebf1f595f1b11afa312f942da83dd839"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JGEyShQBFOJ4Fl2L67KosE5eSLDrzjATzuoyzS4QRZueLwOttj3iAZDiSceXXvwm1iO0+OT0MoX9BfHJ6wBjCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T21:39:01.086596Z","bundle_sha256":"6a7d59ff8828a128df335b7445727752d3cd36dedcfc11ba664ec45b4468e66b"}}