{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:BVVQNH437NJGDBIHPZNPCKZBAP","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":"1968f4ab38b3dc767ed1a17f30b576f25e6911793f8ec596fde67ebe3fdc0ab8","cross_cats_sorted":["cs.MA","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-07-11T03:55:55Z","title_canon_sha256":"aaa82f9b2d262069c74eb7531723c77cfdb4d7c9a92096e36f86e9f0f42e3a1b"},"schema_version":"1.0","source":{"id":"2407.08164","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.08164","created_at":"2026-07-05T08:58:25Z"},{"alias_kind":"arxiv_version","alias_value":"2407.08164v2","created_at":"2026-07-05T08:58:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.08164","created_at":"2026-07-05T08:58:25Z"},{"alias_kind":"pith_short_12","alias_value":"BVVQNH437NJG","created_at":"2026-07-05T08:58:25Z"},{"alias_kind":"pith_short_16","alias_value":"BVVQNH437NJGDBIH","created_at":"2026-07-05T08:58:25Z"},{"alias_kind":"pith_short_8","alias_value":"BVVQNH43","created_at":"2026-07-05T08:58:25Z"}],"graph_snapshots":[{"event_id":"sha256:f02d52bccc31fa758d4ec2a181a5fd58ea8f263e0cee5d6bf91ab6fb2dfceb68","target":"graph","created_at":"2026-07-05T08:58:25Z","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/2407.08164/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In multi-agent reinforcement learning (MARL), the Centralized Training with Decentralized Execution (CTDE) framework is pivotal but struggles due to a gap: global state guidance in training versus reliance on local observations in execution, lacking global signals. Inspired by human societal consensus mechanisms, we introduce the Hierarchical Consensus-based Multi-Agent Reinforcement Learning (HC-MARL) framework to address this limitation. HC-MARL employs contrastive learning to foster a global consensus among agents, enabling cooperative behavior without direct communication. This approach en","authors_text":"Junkang Liang, Kui Zhang, Pu Feng, Rongye Shi, Size Wang, Wenjun Wu, Xin Ji, Xin Yu, Yiting Chen","cross_cats":["cs.MA","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-07-11T03:55:55Z","title":"Hierarchical Consensus-Based Multi-Agent Reinforcement Learning for Multi-Robot Cooperation Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.08164","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":"sha256:3bd64aea9874ae871bbab139e998754e73c686947a9c24a44dda1b0602865fb5","target":"record","created_at":"2026-07-05T08:58:25Z","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":"1968f4ab38b3dc767ed1a17f30b576f25e6911793f8ec596fde67ebe3fdc0ab8","cross_cats_sorted":["cs.MA","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-07-11T03:55:55Z","title_canon_sha256":"aaa82f9b2d262069c74eb7531723c77cfdb4d7c9a92096e36f86e9f0f42e3a1b"},"schema_version":"1.0","source":{"id":"2407.08164","kind":"arxiv","version":2}},"canonical_sha256":"0d6b069f9bfb526185077e5af12b2103faabe8ba8189c259b33723cb1fb7d60e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0d6b069f9bfb526185077e5af12b2103faabe8ba8189c259b33723cb1fb7d60e","first_computed_at":"2026-07-05T08:58:25.163586Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:58:25.163586Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fr4W9PjWRqVsAeTEmYPpcU3UeUTjVpQf/VzNsJlmlLBswCwLsKK/MgrUhaR79n5GcIwBVWxiFZNs0oTe+4jMCw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:58:25.164074Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.08164","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3bd64aea9874ae871bbab139e998754e73c686947a9c24a44dda1b0602865fb5","sha256:f02d52bccc31fa758d4ec2a181a5fd58ea8f263e0cee5d6bf91ab6fb2dfceb68"],"state_sha256":"8b8de3ab8f465f22f7ecdc579a9c14240d310086e8fef124a33c6dd530f7dcb6"}