{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_29e859187ff8d05caed63ca85d062a12815ba8e495a72ec17e66ea54736710c7","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_29e859187ff8d05caed63ca85d062a12815ba8e495a72ec17e66ea54736710c7","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"b45fc250a314cde6591a954e3831943c0cda64e1175f408a92e40fb20277f03e","published":"Thu, 11 Jun 2026 00:00:00 -0400","receipt_hash":"b45fc250a314cde6591a954e3831943c0cda64e1175f408a92e40fb20277f03e","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"b45fc250a314cde6591a954e3831943c0cda64e1175f408a92e40fb20277f03e","observed_at":"2026-06-11T04:43:37.662146Z","parent_run_hash":"5267801b61ae0d882196b5f37208a9a1633905a64ca7d933f1fa5075cd861491","published":"Thu, 11 Jun 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2606.11569v1 Announce Type: cross \nAbstract: Closed-loop planning in complex, real-world driving scenarios presents a critical challenge for autonomous driving systems. While traditional rule-based methods are interpretable, their predefined heuristics lack the adaptability for dynamic traffic environments. Learning-based approaches have shown considerable promise. Conversely, learning-based approaches, despite their promise, struggle to balance the modeling diverse and multimodal driving behaviors and real-time planning, often leading to indecisive or unsafe actions. To address this limitation, we propose Consistency Planner, a real-time planning framework with fast-sampling consistency models. Our approach is built upon two key technical contributions. Efficient Multimodal Sampling: We employ fast-sampling consistency models to generate a diverse set of plausible future trajectories. This enables efficient, real-time exploration of multimodal actions, overcoming the computation","title":"ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models","url":"https://arxiv.org/abs/2606.11569","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.11569v1 Announce Type: cross \nAbstract: Closed-loop planning in complex, real-world driving scenarios presents a critical challenge for autonomous driving systems. While traditional rule-based methods are interpretable, their predefined heuristics lack the adaptability for dynamic traffic environments. Learning-based approaches have shown considerable promise. Conversely, learning-based approaches, despite their promise, struggle to balance the modeling diverse and multimodal driving behaviors and real-time planning, often leading to indecisive or unsafe actions. To address this limitation, we propose Consistency Planner, a real-time planning framework with fast-sampling consistency models. Our approach is built upon two key technical contributions. Efficient Multimodal Sampling: We employ fast-sampling consistency models to generate a diverse set of plausible future trajectories. This enables efficient, real-time exploration of multimodal actions, overcoming the computation","title":"ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-11T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.11569"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:94389501a15e71a6151f8c1200a6044fb1339752dd172fb1daa7327d3fe1a7de6f066d07bc5cbb3ed456993bb77360fa76dd4badbcb253d39ca53f17f6eac80b","signer":"crovia.substrate","subject":{"observed_at":"2026-06-11T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.11569"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"0607565aad7d706e5803a0f82596a0c0f76eb36ad819ff2d468ba27dd6720132","leaf_index":227419,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"c3b5a68f2ad76309a4ff994ea08a08b53736fa8455de901990103d079e585049","side":"left"},{"sibling":"ce95d1598f23ce22d535bf01a261b33722d5fbe97339bd8f1b2fd1202670978d","side":"left"},{"sibling":"111e9f421a827b9df47d6558599643157d3249c12b1f80f8bde076582ae0ec58","side":"right"},{"sibling":"a2efee61c77e32e44320e4ac1a362eaa6fa9955e03b4194c19a2f8bb181c7f81","side":"left"},{"sibling":"fb3402cb2beda4bc8df6aa24b46d730391c740d401464ba0de09e5c1c8891807","side":"left"},{"sibling":"93550d03a83a2be853ab89844eeeebad093f0a1cd104636967f7c5c3853d7974","side":"right"},{"sibling":"96bcd6ed4c2b2c36b81b61babb806f683bcc00f55d4beb48afc2ce7777850ac6","side":"left"},{"sibling":"a6d2c01df24bdf78d7a3a20470793a1585a197c5d8c3f07fc4049ed07458246d","side":"right"},{"sibling":"2cfac7f042209c8533c6031bddc4a83bc156e0595f1b28efefbda208904f338a","side":"right"},{"sibling":"04e399458c5b36988cae0bf1c6dbe1b01349003b15cb5aa43f95c55acffe4ec3","side":"right"},{"sibling":"1383228337d54218bd8e5563aebb0b0dfe15c5269e3d5138e64c261d6130a88b","side":"right"},{"sibling":"57cb49c192550231071a0bf53a0821da2f79c585ec6c8d0fc76cebd62ccd78b2","side":"left"},{"sibling":"cdb58f86163046d3b15f857b03372ec75e1ad9ea4548e086793d528b9eed364d","side":"left"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"6cea4964f32722eb370847c2f7c9d6a9f0622c239538b07e6815a59d6fd8d49c","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":228173,"merkle_root":"7e416202c0bfd759bd2eea4236713b403993d99793fe8badb5065040080bece3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260611T143708Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-11T21:59:35Z","sig_algorithm":"ed25519","signature":"231c80024bc3982dd493c45b31af95097e97aabc6d712a4e5bad7d0cbdd3c08e01ff395b0f8e72754bac97016e0cd0eed88b8a13cb71edbbcb9b6d72c10a7b03","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_29e859187ff8d05caed63ca85d062a12815ba8e495a72ec17e66ea54736710c7"}}