Pith Number

pith:DEP2WS5Q

pith:2026:DEP2WS5QZP5J5BCIYIBNQY22QI

not attested not anchored not stored refs pending

Robots that learn to evaluate models of collective behavior

Andreas Gerken, David Bierbach, Jens Krause, Mathis Hocke, Tim Landgraf

A robotic fish distinguishes neural network models of fish behavior as more accurate than rule-based models through closed-loop interactions.

arxiv:2604.07303 v2 · 2026-04-08 · cs.RO

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\usepackage{pith}
\pithnumber{DEP2WS5QZP5J5BCIYIBNQY22QI}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The neural network-based fish model exhibited the smallest gap across goal-reaching performance and most other metrics, indicating higher behavioral fidelity than conventional rule-based models under this benchmark. More importantly, this separation shows that the proposed evaluation can quantitatively distinguish candidate models under matched closed-loop conditions.

C2weakest assumption

That policies trained in simulation to guide a virtual fish to goals transfer sufficiently well to the physical RoboFish hardware and that the chosen behavioral metrics (goal-reaching, inter-individual distances, wall interactions, alignment) are sufficient to reveal meaningful differences in model fidelity.

C3one line summary

A robotic fish uses RL policies to interact with live fish and ranks behavioral models by Wasserstein distance between simulated and real distributions of metrics such as goal-reaching performance and alignment.

Receipt and verification

First computed	2026-05-20T02:05:43.090292Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

191fab4bb0cbfa9e8448c202d8635a823bfee45d5626aae23849ae4cf18880a7

Aliases

arxiv: 2604.07303 · arxiv_version: 2604.07303v2 · doi: 10.48550/arxiv.2604.07303 · pith_short_12: DEP2WS5QZP5J · pith_short_16: DEP2WS5QZP5J5BCI · pith_short_8: DEP2WS5Q

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/DEP2WS5QZP5J5BCIYIBNQY22QI \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 191fab4bb0cbfa9e8448c202d8635a823bfee45d5626aae23849ae4cf18880a7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "db1b51c24e8513b6eea18e5ab024469c52c171a9aaa4c9f6ef6d8ab8640047be",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-08T17:11:29Z",
    "title_canon_sha256": "5ed74519ed329a9a0390f8b49180d0f9d5fbe0382632f3847530e8f0024d5ea9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.07303",
    "kind": "arxiv",
    "version": 2
  }
}