{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:4SRMGMO4NW4X3G7BLT6R4GQFOJ","short_pith_number":"pith:4SRMGMO4","canonical_record":{"source":{"id":"2310.01362","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:23:51Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"1a45b7939973db628ce95ed7edccb7e382fad1a593eac3baf5420de87cf2cae4","abstract_canon_sha256":"ee92667d1d930e6770b1a5d8d01b57fff6c826bcd7793b9926e661fa9db6b8ae"},"schema_version":"1.0"},"canonical_sha256":"e4a2c331dc6db97d9be15cfd1e1a05726f34d2f3ed416ec940fc5575292c5d3c","source":{"kind":"arxiv","id":"2310.01362","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01362","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01362v3","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01362","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_12","alias_value":"4SRMGMO4NW4X","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_16","alias_value":"4SRMGMO4NW4X3G7B","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_8","alias_value":"4SRMGMO4","created_at":"2026-07-05T07:48:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:4SRMGMO4NW4X3G7BLT6R4GQFOJ","target":"record","payload":{"canonical_record":{"source":{"id":"2310.01362","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:23:51Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"1a45b7939973db628ce95ed7edccb7e382fad1a593eac3baf5420de87cf2cae4","abstract_canon_sha256":"ee92667d1d930e6770b1a5d8d01b57fff6c826bcd7793b9926e661fa9db6b8ae"},"schema_version":"1.0"},"canonical_sha256":"e4a2c331dc6db97d9be15cfd1e1a05726f34d2f3ed416ec940fc5575292c5d3c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:48:31.780544Z","signature_b64":"iol+9/DdWVaA4QPWE3VkAEX2KaxYjKx8apBF6hD9TS4Wpgr/Sy9uP1Fn4EXmSVsEJHlxsIXdTtsUT+0+UZJRCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e4a2c331dc6db97d9be15cfd1e1a05726f34d2f3ed416ec940fc5575292c5d3c","last_reissued_at":"2026-07-05T07:48:31.780103Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:48:31.780103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.01362","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":"2026-07-05T07:48:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gHg4KeSU8F+VGYcrTPfyfOih8C+N8Y997eJ6SH+rDuC5IfLYQhY+7WWhDQQrT/aohub9iVYQvKLEL9N9yChoBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T23:51:54.145794Z"},"content_sha256":"891aaf7fd6d5252fe5c422b2a11f02e0bbad92918262559db368ad469be7cab1","schema_version":"1.0","event_id":"sha256:891aaf7fd6d5252fe5c422b2a11f02e0bbad92918262559db368ad469be7cab1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:4SRMGMO4NW4X3G7BLT6R4GQFOJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robot Fleet Learning via Policy Merging","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Allan Zhou, Kaiqing Zhang, Lirui Wang, Max Simchowitz, Russ Tedrake","submitted_at":"2023-10-02T17:23:51Z","abstract_excerpt":"Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with ease. At the same time, teams of robots should co-acquire diverse skills through their heterogeneous experiences in varied settings. How can we enable such fleet-level learning without having to transmit or centralize fleet-scale data? In this paper, we investigate policy merging (PoMe) from such distributed heterogeneous datasets as a potential solution. To efficiently merge policies in the fleet setting, we propos"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01362","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/2310.01362/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":"2026-07-05T07:48:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/X5aoIIp2Bz3ch9Kd5jpHIDYpYnQU3b1K957TJy8Wk4a4Zpe7Ig+NRYKZxt/R7/QAVLnoi0IEgDtDgYxwriYCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T23:51:54.146427Z"},"content_sha256":"260350bf8d07ef6cd7d5fcd46c8037f0304f6e61c3d6baa390bd49163825001b","schema_version":"1.0","event_id":"sha256:260350bf8d07ef6cd7d5fcd46c8037f0304f6e61c3d6baa390bd49163825001b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/bundle.json","state_url":"https://pith.science/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/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":"2026-08-18T23:51:54Z","links":{"resolver":"https://pith.science/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ","bundle":"https://pith.science/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/bundle.json","state":"https://pith.science/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4SRMGMO4NW4X3G7BLT6R4GQFOJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:4SRMGMO4NW4X3G7BLT6R4GQFOJ","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":"ee92667d1d930e6770b1a5d8d01b57fff6c826bcd7793b9926e661fa9db6b8ae","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:23:51Z","title_canon_sha256":"1a45b7939973db628ce95ed7edccb7e382fad1a593eac3baf5420de87cf2cae4"},"schema_version":"1.0","source":{"id":"2310.01362","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01362","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01362v3","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01362","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_12","alias_value":"4SRMGMO4NW4X","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_16","alias_value":"4SRMGMO4NW4X3G7B","created_at":"2026-07-05T07:48:31Z"},{"alias_kind":"pith_short_8","alias_value":"4SRMGMO4","created_at":"2026-07-05T07:48:31Z"}],"graph_snapshots":[{"event_id":"sha256:260350bf8d07ef6cd7d5fcd46c8037f0304f6e61c3d6baa390bd49163825001b","target":"graph","created_at":"2026-07-05T07:48:31Z","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/2310.01362/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with ease. At the same time, teams of robots should co-acquire diverse skills through their heterogeneous experiences in varied settings. How can we enable such fleet-level learning without having to transmit or centralize fleet-scale data? In this paper, we investigate policy merging (PoMe) from such distributed heterogeneous datasets as a potential solution. To efficiently merge policies in the fleet setting, we propos","authors_text":"Allan Zhou, Kaiqing Zhang, Lirui Wang, Max Simchowitz, Russ Tedrake","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:23:51Z","title":"Robot Fleet Learning via Policy Merging"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01362","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":"sha256:891aaf7fd6d5252fe5c422b2a11f02e0bbad92918262559db368ad469be7cab1","target":"record","created_at":"2026-07-05T07:48:31Z","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":"ee92667d1d930e6770b1a5d8d01b57fff6c826bcd7793b9926e661fa9db6b8ae","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:23:51Z","title_canon_sha256":"1a45b7939973db628ce95ed7edccb7e382fad1a593eac3baf5420de87cf2cae4"},"schema_version":"1.0","source":{"id":"2310.01362","kind":"arxiv","version":3}},"canonical_sha256":"e4a2c331dc6db97d9be15cfd1e1a05726f34d2f3ed416ec940fc5575292c5d3c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e4a2c331dc6db97d9be15cfd1e1a05726f34d2f3ed416ec940fc5575292c5d3c","first_computed_at":"2026-07-05T07:48:31.780103Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:48:31.780103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iol+9/DdWVaA4QPWE3VkAEX2KaxYjKx8apBF6hD9TS4Wpgr/Sy9uP1Fn4EXmSVsEJHlxsIXdTtsUT+0+UZJRCg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:48:31.780544Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.01362","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:891aaf7fd6d5252fe5c422b2a11f02e0bbad92918262559db368ad469be7cab1","sha256:260350bf8d07ef6cd7d5fcd46c8037f0304f6e61c3d6baa390bd49163825001b"],"state_sha256":"c48aaa0a326360d740d70caec41bc3ec40aa92b0bd466a9af25da915acff9c6f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nu0/2vhfGUDTT3hRXqeW/xp8TbqGqdgMl4q9j538LFEXjw7SyoBrZHq8sv2eKZA77MwGWhEM5k3Uc9vnjVlkAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T23:51:54.151446Z","bundle_sha256":"0251bd4c3ef98b59c23b66029bd158b7e3949d7fd808758d20831e4e511a7271"}}