{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:DLSIZ76ZMT25APKKQQLUBHU4VP","short_pith_number":"pith:DLSIZ76Z","canonical_record":{"source":{"id":"1806.00196","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T05:11:46Z","cross_cats_sorted":[],"title_canon_sha256":"8eb1c6b77d4fc4f0960f54cfacb1b20d2136a70dd3c57215a60321387c050101","abstract_canon_sha256":"b13fe9bc0e54cd677d56c26f28ef01b6621d9fe5cc609a02cee887e9b230b759"},"schema_version":"1.0"},"canonical_sha256":"1ae48cffd964f5d03d4a8417409e9cabc6c38ca68d5d113a9958756c55205464","source":{"kind":"arxiv","id":"1806.00196","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.00196","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"arxiv_version","alias_value":"1806.00196v1","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.00196","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"pith_short_12","alias_value":"DLSIZ76ZMT25","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DLSIZ76ZMT25APKK","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DLSIZ76Z","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:DLSIZ76ZMT25APKKQQLUBHU4VP","target":"record","payload":{"canonical_record":{"source":{"id":"1806.00196","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T05:11:46Z","cross_cats_sorted":[],"title_canon_sha256":"8eb1c6b77d4fc4f0960f54cfacb1b20d2136a70dd3c57215a60321387c050101","abstract_canon_sha256":"b13fe9bc0e54cd677d56c26f28ef01b6621d9fe5cc609a02cee887e9b230b759"},"schema_version":"1.0"},"canonical_sha256":"1ae48cffd964f5d03d4a8417409e9cabc6c38ca68d5d113a9958756c55205464","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:14:27.671621Z","signature_b64":"rLTaC8pPReuY/Ifh9+x7RkJFbWdQEMyhm6nip9USvSNCEg5DkV/niNtjuj5zU38pJvVKtGWFUw3yEO7zFlb2Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1ae48cffd964f5d03d4a8417409e9cabc6c38ca68d5d113a9958756c55205464","last_reissued_at":"2026-05-18T00:14:27.670985Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:14:27.670985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1806.00196","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":"2026-05-18T00:14:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eM2KeO9AKd8dadhFj0LNgRdV25z9icOk3KccNVrq5o3I6Opp/xp963spvQabOyDdg3SN/wGHxQUDn7W5g/rwBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T21:56:10.631695Z"},"content_sha256":"05b5aee88499c835539bb8097a4f0614fdbe3fee724fcfca3950c2d112591f64","schema_version":"1.0","event_id":"sha256:05b5aee88499c835539bb8097a4f0614fdbe3fee724fcfca3950c2d112591f64"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:DLSIZ76ZMT25APKKQQLUBHU4VP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-vehicle Flocking Control with Deep Deterministic Policy Gradient Method","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chunhui Zhao, Jinwen Hu, Quan Pan, Shuai Liu, Yang Lyu","submitted_at":"2018-06-01T05:11:46Z","abstract_excerpt":"Flocking control has been studied extensively along with the wide application of multi-vehicle systems. In this paper the Multi-vehicles System (MVS) flocking control with collision avoidance and communication preserving is considered based on the deep reinforcement learning framework. Specifically the deep deterministic policy gradient (DDPG) with centralized training and distributed execution process is implemented to obtain the flocking control policy. First, to avoid the dynamically changed observation of state, a three layers tensor based representation of the observation is used so that "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.00196","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":""},"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":"2026-05-18T00:14:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+iMu3tKFrmf7yyPQJatPe3x5K+00bOQgFWLiZJgaQuSOrZIOhfu0Il4+ir9aLo1KCwigI2JqDD+lKH8OwW+4Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T21:56:10.632044Z"},"content_sha256":"479a3d799ebfa71afba550b50c6c83a0bcd940ebe77ebb9894800830423f8669","schema_version":"1.0","event_id":"sha256:479a3d799ebfa71afba550b50c6c83a0bcd940ebe77ebb9894800830423f8669"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/bundle.json","state_url":"https://pith.science/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/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":"2026-05-28T21:56:10Z","links":{"resolver":"https://pith.science/pith/DLSIZ76ZMT25APKKQQLUBHU4VP","bundle":"https://pith.science/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/bundle.json","state":"https://pith.science/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DLSIZ76ZMT25APKKQQLUBHU4VP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:DLSIZ76ZMT25APKKQQLUBHU4VP","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":"b13fe9bc0e54cd677d56c26f28ef01b6621d9fe5cc609a02cee887e9b230b759","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T05:11:46Z","title_canon_sha256":"8eb1c6b77d4fc4f0960f54cfacb1b20d2136a70dd3c57215a60321387c050101"},"schema_version":"1.0","source":{"id":"1806.00196","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.00196","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"arxiv_version","alias_value":"1806.00196v1","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.00196","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"pith_short_12","alias_value":"DLSIZ76ZMT25","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DLSIZ76ZMT25APKK","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DLSIZ76Z","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:479a3d799ebfa71afba550b50c6c83a0bcd940ebe77ebb9894800830423f8669","target":"graph","created_at":"2026-05-18T00:14:27Z","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"},"paper":{"abstract_excerpt":"Flocking control has been studied extensively along with the wide application of multi-vehicle systems. In this paper the Multi-vehicles System (MVS) flocking control with collision avoidance and communication preserving is considered based on the deep reinforcement learning framework. Specifically the deep deterministic policy gradient (DDPG) with centralized training and distributed execution process is implemented to obtain the flocking control policy. First, to avoid the dynamically changed observation of state, a three layers tensor based representation of the observation is used so that ","authors_text":"Chunhui Zhao, Jinwen Hu, Quan Pan, Shuai Liu, Yang Lyu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T05:11:46Z","title":"Multi-vehicle Flocking Control with Deep Deterministic Policy Gradient Method"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.00196","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":"sha256:05b5aee88499c835539bb8097a4f0614fdbe3fee724fcfca3950c2d112591f64","target":"record","created_at":"2026-05-18T00:14:27Z","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":"b13fe9bc0e54cd677d56c26f28ef01b6621d9fe5cc609a02cee887e9b230b759","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T05:11:46Z","title_canon_sha256":"8eb1c6b77d4fc4f0960f54cfacb1b20d2136a70dd3c57215a60321387c050101"},"schema_version":"1.0","source":{"id":"1806.00196","kind":"arxiv","version":1}},"canonical_sha256":"1ae48cffd964f5d03d4a8417409e9cabc6c38ca68d5d113a9958756c55205464","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1ae48cffd964f5d03d4a8417409e9cabc6c38ca68d5d113a9958756c55205464","first_computed_at":"2026-05-18T00:14:27.670985Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:14:27.670985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rLTaC8pPReuY/Ifh9+x7RkJFbWdQEMyhm6nip9USvSNCEg5DkV/niNtjuj5zU38pJvVKtGWFUw3yEO7zFlb2Aw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:14:27.671621Z","signed_message":"canonical_sha256_bytes"},"source_id":"1806.00196","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05b5aee88499c835539bb8097a4f0614fdbe3fee724fcfca3950c2d112591f64","sha256:479a3d799ebfa71afba550b50c6c83a0bcd940ebe77ebb9894800830423f8669"],"state_sha256":"cdf1b510f313d705fdb0e00f1e9110dc9506e84f941f6a3953d96d062b52ce91"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2XcGNeabtb7l7/19LpCvSktDC3A6SP08lmoseEqxDrmMXdD5yYfBeUT/seQoNsyj8dNtNF/k+uICTij0jOSKAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T21:56:10.634262Z","bundle_sha256":"b42c28cd2cda52293f1bb91cf0873744bed3d37eb0ad5b8e5d77111b1633b53d"}}