{"_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_c911855a51d7d9575f61dc85cea30f61bd3d0ba9f5bbd800f97d752662d58187","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_c911855a51d7d9575f61dc85cea30f61bd3d0ba9f5bbd800f97d752662d58187","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"2c98af8af2689c7fd0adb5681b398c387d5b96b1f8bc39db843b8838141a60e5","published":"Thu, 16 Jul 2026 00:00:00 -0400","receipt_hash":"2c98af8af2689c7fd0adb5681b398c387d5b96b1f8bc39db843b8838141a60e5","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":"2c98af8af2689c7fd0adb5681b398c387d5b96b1f8bc39db843b8838141a60e5","observed_at":"2026-07-16T04:44:04.234592Z","parent_run_hash":"392cd8ef881a5a54dbb7fbd0e0c490e4811d7ed32379244b3196bd5cb9c5d632","published":"Thu, 16 Jul 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:2607.13319v1 Announce Type: cross \nAbstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD models that preserves cross-terrain generalization while optimizing performance for a specific vehicle. $\\texttt{OptCar}$ introduces a history-conditioned dynamics adaptation module that encodes recent state-action observations into a dynamics context token, and then fine-tunes the generalist model using limited real-world data together with targete","title":"Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains","url":"https://arxiv.org/abs/2607.13319","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.13319v1 Announce Type: cross \nAbstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD models that preserves cross-terrain generalization while optimizing performance for a specific vehicle. $\\texttt{OptCar}$ introduces a history-conditioned dynamics adaptation module that encodes recent state-action observations into a dynamics context token, and then fine-tunes the generalist model using limited real-world data together with targete","title":"Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-16T04:44:04Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.13319"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:834c5eb996bb6e47c16bc7449230299d5e8a7746a7afeb9095e558390f2177feced4111c0e7a5dcec4785484bdd206ffbdef7b6d9f924c451150466e6ce3c905","signer":"crovia.substrate","subject":{"observed_at":"2026-07-16T04:44:04Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.13319"},"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":"897fa452f1151183c7cd958b5f8ea58ae114f8b810e146a0ef81511367207ec4","leaf_index":319817,"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":"3a667bb16fd44503e2470c52b62b244debe97592340330c54ec6b889ed8dbe4d","side":"left"},{"sibling":"6645060d3ab20d95a98b938fce0be96134c10237edb4c110a0b1fecea99fadf8","side":"right"},{"sibling":"87e194d97ad53b6adfe998507ffd0d908d39d57d7a7cabc207a609a6dc69a41e","side":"right"},{"sibling":"71f9dd3607d999c1fd890a9d8421d9f7b24e24dcd81aa4fa87d99b72a5f68dc5","side":"left"},{"sibling":"d6f32cfa22eaa070d6cc749cf835e962753a4d273f9d441c88dd1fd38df28d61","side":"right"},{"sibling":"d4883068a918de3912db61033720014f921694c62ea82aab5e7e249915b74ffd","side":"right"},{"sibling":"2c7004d4be02967141b4e5609671d597ca4f0e246e61da911ae67ca20ab6e7e7","side":"left"},{"sibling":"ec3fec9bb698cfe3c65d9f75111532c318eaa7e7c5b933ded046cea471e330ab","side":"right"},{"sibling":"929619d7bb5abd9d4c015f749565f8d43a371ed382bafe122457d67edb9b8323","side":"left"},{"sibling":"1290775fa2a1fe2079ed83a9c60b8cb479714b6312967daa62f6a91dbbe1cac9","side":"right"},{"sibling":"95977bf2fb44d423026e874e6c275f78b1cf48666d2c472c5e4603d16f4faf7f","side":"right"},{"sibling":"6b83879fdb76b5b7270071f1edfe4d1a059fa9b92653e70fc8c8893214b8f237","side":"right"},{"sibling":"ff49c1d8749b258f58cc33cfaf20d723098ed6860fb62a6779db960d6250915b","side":"right"},{"sibling":"34d85f6ad6cc7dfa79d90e2b9ff99a561bcdc75b0301bbbd3e83861f54535c1e","side":"left"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"3ee6ab8db1878db0b324dd807ca233edd472899b8e90d2c5e018848ea5d12d99","side":"right"},{"sibling":"73a8d1605c15a74de720f0c54b5b4567e3eb8b5999bd8812dc66eedc461540fa","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","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":320080,"merkle_root":"1e159bceacfdb1f3c930dae410f8759ddc4c762abcfa4a257b150d6f44ab16e0","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260716T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-16T05:38:31Z","sig_algorithm":"ed25519","signature":"c1cd1fc5704d4fec4dee47b29a0e9877f8cfb41eb61dcfd783d82344a15f6e44d80d6cd5128849547b62fe9d9724fc71433319ab6030445b4ac1c9e6bf8a3709","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_c911855a51d7d9575f61dc85cea30f61bd3d0ba9f5bbd800f97d752662d58187"}}