{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:7EDXUBMMAKC7KVGEJUTF4YRPQW","short_pith_number":"pith:7EDXUBMM","canonical_record":{"source":{"id":"2309.13285","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-23T06:56:28Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"08f805e6bc39a2600efe27fcb50a789c7cc006edb43ac5a886e10fe3bd321b2b","abstract_canon_sha256":"d42e8154d998f501dd5f4a149b6d832a1e180640d9dba12c77b5f066c94b5fc8"},"schema_version":"1.0"},"canonical_sha256":"f9077a058c0285f554c44d265e622f8584cdb99802a130323fdbdca7abb159e1","source":{"kind":"arxiv","id":"2309.13285","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.13285","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"2309.13285v2","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.13285","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"7EDXUBMMAKC7","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_16","alias_value":"7EDXUBMMAKC7KVGE","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_8","alias_value":"7EDXUBMM","created_at":"2026-07-05T08:15:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:7EDXUBMMAKC7KVGEJUTF4YRPQW","target":"record","payload":{"canonical_record":{"source":{"id":"2309.13285","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-23T06:56:28Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"08f805e6bc39a2600efe27fcb50a789c7cc006edb43ac5a886e10fe3bd321b2b","abstract_canon_sha256":"d42e8154d998f501dd5f4a149b6d832a1e180640d9dba12c77b5f066c94b5fc8"},"schema_version":"1.0"},"canonical_sha256":"f9077a058c0285f554c44d265e622f8584cdb99802a130323fdbdca7abb159e1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:15:39.628969Z","signature_b64":"GP9tZfr/e/My/ASC1P/p0mAcx9yt46/yfkVw6y9IFtQrycVEpewbOmgnVruEBHuDrnmsjQ+0TZlh9JIJJvTPDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f9077a058c0285f554c44d265e622f8584cdb99802a130323fdbdca7abb159e1","last_reissued_at":"2026-07-05T08:15:39.628466Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:15:39.628466Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.13285","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fUDt//yNwkosgVDPEdzTd0PJhGGD9pi09QgnPwv2Jo5iijvoxbPKTelA6Bx6GKz3ug0m6+6QtKljAe3V9RomBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T19:59:57.228826Z"},"content_sha256":"4b5247e204f39a8a6d9d682810620bbd608b1df49e44402c4275d8d46abe9334","schema_version":"1.0","event_id":"sha256:4b5247e204f39a8a6d9d682810620bbd608b1df49e44402c4275d8d46abe9334"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:7EDXUBMMAKC7KVGEJUTF4YRPQW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Collision Avoidance and Navigation for a Quadrotor Swarm Using End-to-end Deep Reinforcement Learning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.MA"],"primary_cat":"cs.RO","authors_text":"Bask{\\i}n \\c{S}enba\\c{s}lar, Gaurav S. Sukhatme, Rahul Krupani, Sumeet Batra, Zhaojing Yang, Zhehui Huang","submitted_at":"2023-09-23T06:56:28Z","abstract_excerpt":"End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy learned controllers onto single quadrotors or quadrotor teams maneuvering in simple, obstacle-free environments. However, the addition of obstacles increases the number of possible interactions exponentially, thereby increasing the difficulty of training RL policies. In this work, we propose an end-to-end DRL approach to control quadrotor swarms in environment"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.13285","kind":"arxiv","version":2},"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/2309.13285/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":"2026-07-05T08:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4nbN/GMZUeqYCcLfkoLEF7awlvZk9YSsMBff7/oeDQleY/ADoQEcRjKUCexN7fj1l5NqTZh3x5HgWaTupN6bAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T19:59:57.229391Z"},"content_sha256":"4b524314bc0e052a264e5fee46eb4a0ea298bca65da1f6cd63f935e4ec7a5458","schema_version":"1.0","event_id":"sha256:4b524314bc0e052a264e5fee46eb4a0ea298bca65da1f6cd63f935e4ec7a5458"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/bundle.json","state_url":"https://pith.science/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/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":"2026-07-31T19:59:57Z","links":{"resolver":"https://pith.science/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW","bundle":"https://pith.science/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/bundle.json","state":"https://pith.science/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7EDXUBMMAKC7KVGEJUTF4YRPQW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7EDXUBMMAKC7KVGEJUTF4YRPQW","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":"d42e8154d998f501dd5f4a149b6d832a1e180640d9dba12c77b5f066c94b5fc8","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-23T06:56:28Z","title_canon_sha256":"08f805e6bc39a2600efe27fcb50a789c7cc006edb43ac5a886e10fe3bd321b2b"},"schema_version":"1.0","source":{"id":"2309.13285","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.13285","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"2309.13285v2","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.13285","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"7EDXUBMMAKC7","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_16","alias_value":"7EDXUBMMAKC7KVGE","created_at":"2026-07-05T08:15:39Z"},{"alias_kind":"pith_short_8","alias_value":"7EDXUBMM","created_at":"2026-07-05T08:15:39Z"}],"graph_snapshots":[{"event_id":"sha256:4b524314bc0e052a264e5fee46eb4a0ea298bca65da1f6cd63f935e4ec7a5458","target":"graph","created_at":"2026-07-05T08:15:39Z","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/2309.13285/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy learned controllers onto single quadrotors or quadrotor teams maneuvering in simple, obstacle-free environments. However, the addition of obstacles increases the number of possible interactions exponentially, thereby increasing the difficulty of training RL policies. In this work, we propose an end-to-end DRL approach to control quadrotor swarms in environment","authors_text":"Bask{\\i}n \\c{S}enba\\c{s}lar, Gaurav S. Sukhatme, Rahul Krupani, Sumeet Batra, Zhaojing Yang, Zhehui Huang","cross_cats":["cs.AI","cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-23T06:56:28Z","title":"Collision Avoidance and Navigation for a Quadrotor Swarm Using End-to-end Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.13285","kind":"arxiv","version":2},"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":"sha256:4b5247e204f39a8a6d9d682810620bbd608b1df49e44402c4275d8d46abe9334","target":"record","created_at":"2026-07-05T08:15:39Z","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":"d42e8154d998f501dd5f4a149b6d832a1e180640d9dba12c77b5f066c94b5fc8","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-23T06:56:28Z","title_canon_sha256":"08f805e6bc39a2600efe27fcb50a789c7cc006edb43ac5a886e10fe3bd321b2b"},"schema_version":"1.0","source":{"id":"2309.13285","kind":"arxiv","version":2}},"canonical_sha256":"f9077a058c0285f554c44d265e622f8584cdb99802a130323fdbdca7abb159e1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f9077a058c0285f554c44d265e622f8584cdb99802a130323fdbdca7abb159e1","first_computed_at":"2026-07-05T08:15:39.628466Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:15:39.628466Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GP9tZfr/e/My/ASC1P/p0mAcx9yt46/yfkVw6y9IFtQrycVEpewbOmgnVruEBHuDrnmsjQ+0TZlh9JIJJvTPDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:15:39.628969Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.13285","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4b5247e204f39a8a6d9d682810620bbd608b1df49e44402c4275d8d46abe9334","sha256:4b524314bc0e052a264e5fee46eb4a0ea298bca65da1f6cd63f935e4ec7a5458"],"state_sha256":"33c49d71a493321e0d8b9373789f683e5bf23a12425eef5eb1e68f7bebb0767c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hhGcriUeUaZMuVZrC689+BuSboOC6TI+Bu0/Eblqqo7ZVhJDKcUEcd1oDSEmRxK5ZoiqOzGKSSW2kTEYnzEJBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-31T19:59:57.234857Z","bundle_sha256":"6814a9ead9e3af643de397cb93f2375f453e4a14b59df067994f441008d45857"}}