{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4KTUMMGSXIVXY2CLYOHT6VLNWX","short_pith_number":"pith:4KTUMMGS","canonical_record":{"source":{"id":"2209.11794","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T18:16:56Z","cross_cats_sorted":[],"title_canon_sha256":"d667e87a1f06dcf828e55206ff56f624e9911452719508bdd61e09b321f3243c","abstract_canon_sha256":"6b217c3340c35580474d90742a5209b2c771497e3c4aa6aac11dedd0f2c89870"},"schema_version":"1.0"},"canonical_sha256":"e2a74630d2ba2b7c684bc38f3f556db5fed958a69ac01bc4f3c8dfd420de8b92","source":{"kind":"arxiv","id":"2209.11794","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.11794","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"arxiv_version","alias_value":"2209.11794v1","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.11794","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_12","alias_value":"4KTUMMGSXIVX","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_16","alias_value":"4KTUMMGSXIVXY2CL","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_8","alias_value":"4KTUMMGS","created_at":"2026-07-05T05:00:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4KTUMMGSXIVXY2CLYOHT6VLNWX","target":"record","payload":{"canonical_record":{"source":{"id":"2209.11794","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T18:16:56Z","cross_cats_sorted":[],"title_canon_sha256":"d667e87a1f06dcf828e55206ff56f624e9911452719508bdd61e09b321f3243c","abstract_canon_sha256":"6b217c3340c35580474d90742a5209b2c771497e3c4aa6aac11dedd0f2c89870"},"schema_version":"1.0"},"canonical_sha256":"e2a74630d2ba2b7c684bc38f3f556db5fed958a69ac01bc4f3c8dfd420de8b92","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:00:27.873236Z","signature_b64":"mfDfRiDmt0nwlElAbvdQSX86fuMRrkka7PDIEAleMZuqs61tOs0Lk+uZFxPwVcIx7imGmWZt3VJTZ75No23bCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e2a74630d2ba2b7c684bc38f3f556db5fed958a69ac01bc4f3c8dfd420de8b92","last_reissued_at":"2026-07-05T05:00:27.872832Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:00:27.872832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.11794","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":"2026-07-05T05:00:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ezrmNniG0ojV8CefNUhsmJ0c/g84fNh2JOnHtvM+AJXN/+fGCZBRtWOTDtay1ABptfOcnUgeEBK8TOIIfRpoDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:33:44.472062Z"},"content_sha256":"4cfa358e0b8c247f22b88d9975dba07bbc98ebb307e0dd2e488328386995f959","schema_version":"1.0","event_id":"sha256:4cfa358e0b8c247f22b88d9975dba07bbc98ebb307e0dd2e488328386995f959"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4KTUMMGSXIVXY2CLYOHT6VLNWX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Subhrajit Bhattacharya, Vijay Kumar, Xiatao Sun, Yuwei Wu","submitted_at":"2022-09-23T18:16:56Z","abstract_excerpt":"In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid and complete exploration, existing works make assumptions on the density and distribution of landmarks in the environment. These assumptions may be overly restrictive, especially in hazardous environments where landmarks may be destroyed or completely missing. In this paper, we first propose a deep reinforcement learning framework for multi-agent cooperative "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.11794","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/2209.11794/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":"2026-07-05T05:00:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wV/8qva4qsuFUsNvkcQPlz/jm1iAonJSOryUBiEoL+e1AvsLMavIDTmTLc8dNPWeVaAnVNFiKe5b4PDeDylcBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:33:44.472596Z"},"content_sha256":"a54eac202aeaae4fb4497055653f2809e0ef42b306635a1426972677bd0eb7d3","schema_version":"1.0","event_id":"sha256:a54eac202aeaae4fb4497055653f2809e0ef42b306635a1426972677bd0eb7d3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/bundle.json","state_url":"https://pith.science/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/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":"2026-08-05T21:33:44Z","links":{"resolver":"https://pith.science/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX","bundle":"https://pith.science/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/bundle.json","state":"https://pith.science/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4KTUMMGSXIVXY2CLYOHT6VLNWX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4KTUMMGSXIVXY2CLYOHT6VLNWX","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":"6b217c3340c35580474d90742a5209b2c771497e3c4aa6aac11dedd0f2c89870","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T18:16:56Z","title_canon_sha256":"d667e87a1f06dcf828e55206ff56f624e9911452719508bdd61e09b321f3243c"},"schema_version":"1.0","source":{"id":"2209.11794","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.11794","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"arxiv_version","alias_value":"2209.11794v1","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.11794","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_12","alias_value":"4KTUMMGSXIVX","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_16","alias_value":"4KTUMMGSXIVXY2CL","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_8","alias_value":"4KTUMMGS","created_at":"2026-07-05T05:00:27Z"}],"graph_snapshots":[{"event_id":"sha256:a54eac202aeaae4fb4497055653f2809e0ef42b306635a1426972677bd0eb7d3","target":"graph","created_at":"2026-07-05T05:00:27Z","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/2209.11794/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid and complete exploration, existing works make assumptions on the density and distribution of landmarks in the environment. These assumptions may be overly restrictive, especially in hazardous environments where landmarks may be destroyed or completely missing. In this paper, we first propose a deep reinforcement learning framework for multi-agent cooperative ","authors_text":"Subhrajit Bhattacharya, Vijay Kumar, Xiatao Sun, Yuwei Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T18:16:56Z","title":"Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.11794","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":"sha256:4cfa358e0b8c247f22b88d9975dba07bbc98ebb307e0dd2e488328386995f959","target":"record","created_at":"2026-07-05T05:00:27Z","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":"6b217c3340c35580474d90742a5209b2c771497e3c4aa6aac11dedd0f2c89870","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T18:16:56Z","title_canon_sha256":"d667e87a1f06dcf828e55206ff56f624e9911452719508bdd61e09b321f3243c"},"schema_version":"1.0","source":{"id":"2209.11794","kind":"arxiv","version":1}},"canonical_sha256":"e2a74630d2ba2b7c684bc38f3f556db5fed958a69ac01bc4f3c8dfd420de8b92","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e2a74630d2ba2b7c684bc38f3f556db5fed958a69ac01bc4f3c8dfd420de8b92","first_computed_at":"2026-07-05T05:00:27.872832Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:00:27.872832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mfDfRiDmt0nwlElAbvdQSX86fuMRrkka7PDIEAleMZuqs61tOs0Lk+uZFxPwVcIx7imGmWZt3VJTZ75No23bCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:00:27.873236Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.11794","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4cfa358e0b8c247f22b88d9975dba07bbc98ebb307e0dd2e488328386995f959","sha256:a54eac202aeaae4fb4497055653f2809e0ef42b306635a1426972677bd0eb7d3"],"state_sha256":"24495511221863346db0c4b658a26862881265f9d6395156d959814cab712dc3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iFLhS90mQCQoBUex+Om+vEptv7g+cAUvyVc3F5iyZlBQJQCxxG4x8fu5iaWPgzEwNDPpFYAUnREqUD3SCvkpCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T21:33:44.477554Z","bundle_sha256":"dbe7bb2e4d72161a9eecb9f5a264ea2bd6d02ec0752044040d13c0dab66efc96"}}