{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:DQOPXPU6NPZPQASKRCB6USM4GO","short_pith_number":"pith:DQOPXPU6","canonical_record":{"source":{"id":"2507.11566","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.NE","submitted_at":"2025-07-14T18:59:19Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"73e8cf40d682e8d44ad93de5b76cb5d6af1de0aaa40ae1ffa7d7cf29d61f97ca","abstract_canon_sha256":"5698f5c235f4bd4a7dcb00329ce5dd0f86af7ecc6b02f269cf4747aa2c2daa83"},"schema_version":"1.0"},"canonical_sha256":"1c1cfbbe9e6bf2f8024a8883ea499c33836d614433ad42a9ffc2de5be63b38b2","source":{"kind":"arxiv","id":"2507.11566","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.11566","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"arxiv_version","alias_value":"2507.11566v1","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.11566","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_12","alias_value":"DQOPXPU6NPZP","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_16","alias_value":"DQOPXPU6NPZPQASK","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_8","alias_value":"DQOPXPU6","created_at":"2026-07-05T11:37:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:DQOPXPU6NPZPQASKRCB6USM4GO","target":"record","payload":{"canonical_record":{"source":{"id":"2507.11566","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.NE","submitted_at":"2025-07-14T18:59:19Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"73e8cf40d682e8d44ad93de5b76cb5d6af1de0aaa40ae1ffa7d7cf29d61f97ca","abstract_canon_sha256":"5698f5c235f4bd4a7dcb00329ce5dd0f86af7ecc6b02f269cf4747aa2c2daa83"},"schema_version":"1.0"},"canonical_sha256":"1c1cfbbe9e6bf2f8024a8883ea499c33836d614433ad42a9ffc2de5be63b38b2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:37:46.638234Z","signature_b64":"P9X1lL1Ih7MaGJ0IX7xqs9BaTjHfCkfeU+/4MixM4CL/hPU+rXKLRFmm8vf4femvfvRWW0P4yQALtyFFdcGUAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1c1cfbbe9e6bf2f8024a8883ea499c33836d614433ad42a9ffc2de5be63b38b2","last_reissued_at":"2026-07-05T11:37:46.637715Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:37:46.637715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.11566","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":"2026-07-05T11:37:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XbyggACA/ZvOxtrGrAdQMpgKW0+aNk7aMKLUXnnBGiwPHOU/Q3X8anR8MPMWrwVLJbl0lTatze8eEDS97nQGCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T03:55:25.648766Z"},"content_sha256":"17a1f3be8019a158d238c87c8fd20b93e6772b8b6e8d8fd6981dc741e3b938bf","schema_version":"1.0","event_id":"sha256:17a1f3be8019a158d238c87c8fd20b93e6772b8b6e8d8fd6981dc741e3b938bf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:DQOPXPU6NPZPQASKRCB6USM4GO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Emergent Heterogeneous Swarm Control Through Hebbian Learning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.RO"],"primary_cat":"cs.NE","authors_text":"A.E. Eiben, Andres Garcia Rincon, Dario Floreano, Eliseo Ferrante, Fuda van Diggelen, Tugay Alperen Karag\\\"uzel","submitted_at":"2025-07-14T18:59:19Z","abstract_excerpt":"In this paper, we introduce Hebbian learning as a novel method for swarm robotics, enabling the automatic emergence of heterogeneity. Hebbian learning presents a biologically inspired form of neural adaptation that solely relies on local information. By doing so, we resolve several major challenges for learning heterogeneous control: 1) Hebbian learning removes the complexity of attributing emergent phenomena to single agents through local learning rules, thus circumventing the micro-macro problem; 2) uniform Hebbian learning rules across all swarm members limit the number of parameters needed"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.11566","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.11566/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":"2026-07-05T11:37:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h3ovBe987n2cV8CSTTcjQamFPM85FScgT80jTzTL9vmMPCCulKIsAmoXM0SgYajuAZx7FwBifUuMM7zpjmfCBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T03:55:25.649320Z"},"content_sha256":"a96f27697fb8100fba6fc71799b1569952669fc67877a1d9c39cb6c231cd776e","schema_version":"1.0","event_id":"sha256:a96f27697fb8100fba6fc71799b1569952669fc67877a1d9c39cb6c231cd776e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DQOPXPU6NPZPQASKRCB6USM4GO/bundle.json","state_url":"https://pith.science/pith/DQOPXPU6NPZPQASKRCB6USM4GO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DQOPXPU6NPZPQASKRCB6USM4GO/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":"2026-08-09T03:55:25Z","links":{"resolver":"https://pith.science/pith/DQOPXPU6NPZPQASKRCB6USM4GO","bundle":"https://pith.science/pith/DQOPXPU6NPZPQASKRCB6USM4GO/bundle.json","state":"https://pith.science/pith/DQOPXPU6NPZPQASKRCB6USM4GO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DQOPXPU6NPZPQASKRCB6USM4GO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:DQOPXPU6NPZPQASKRCB6USM4GO","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":"5698f5c235f4bd4a7dcb00329ce5dd0f86af7ecc6b02f269cf4747aa2c2daa83","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.NE","submitted_at":"2025-07-14T18:59:19Z","title_canon_sha256":"73e8cf40d682e8d44ad93de5b76cb5d6af1de0aaa40ae1ffa7d7cf29d61f97ca"},"schema_version":"1.0","source":{"id":"2507.11566","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.11566","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"arxiv_version","alias_value":"2507.11566v1","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.11566","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_12","alias_value":"DQOPXPU6NPZP","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_16","alias_value":"DQOPXPU6NPZPQASK","created_at":"2026-07-05T11:37:46Z"},{"alias_kind":"pith_short_8","alias_value":"DQOPXPU6","created_at":"2026-07-05T11:37:46Z"}],"graph_snapshots":[{"event_id":"sha256:a96f27697fb8100fba6fc71799b1569952669fc67877a1d9c39cb6c231cd776e","target":"graph","created_at":"2026-07-05T11:37:46Z","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/2507.11566/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we introduce Hebbian learning as a novel method for swarm robotics, enabling the automatic emergence of heterogeneity. Hebbian learning presents a biologically inspired form of neural adaptation that solely relies on local information. By doing so, we resolve several major challenges for learning heterogeneous control: 1) Hebbian learning removes the complexity of attributing emergent phenomena to single agents through local learning rules, thus circumventing the micro-macro problem; 2) uniform Hebbian learning rules across all swarm members limit the number of parameters needed","authors_text":"A.E. Eiben, Andres Garcia Rincon, Dario Floreano, Eliseo Ferrante, Fuda van Diggelen, Tugay Alperen Karag\\\"uzel","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.NE","submitted_at":"2025-07-14T18:59:19Z","title":"Emergent Heterogeneous Swarm Control Through Hebbian Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.11566","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":"sha256:17a1f3be8019a158d238c87c8fd20b93e6772b8b6e8d8fd6981dc741e3b938bf","target":"record","created_at":"2026-07-05T11:37:46Z","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":"5698f5c235f4bd4a7dcb00329ce5dd0f86af7ecc6b02f269cf4747aa2c2daa83","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.NE","submitted_at":"2025-07-14T18:59:19Z","title_canon_sha256":"73e8cf40d682e8d44ad93de5b76cb5d6af1de0aaa40ae1ffa7d7cf29d61f97ca"},"schema_version":"1.0","source":{"id":"2507.11566","kind":"arxiv","version":1}},"canonical_sha256":"1c1cfbbe9e6bf2f8024a8883ea499c33836d614433ad42a9ffc2de5be63b38b2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1c1cfbbe9e6bf2f8024a8883ea499c33836d614433ad42a9ffc2de5be63b38b2","first_computed_at":"2026-07-05T11:37:46.637715Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:37:46.637715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"P9X1lL1Ih7MaGJ0IX7xqs9BaTjHfCkfeU+/4MixM4CL/hPU+rXKLRFmm8vf4femvfvRWW0P4yQALtyFFdcGUAw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:37:46.638234Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.11566","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:17a1f3be8019a158d238c87c8fd20b93e6772b8b6e8d8fd6981dc741e3b938bf","sha256:a96f27697fb8100fba6fc71799b1569952669fc67877a1d9c39cb6c231cd776e"],"state_sha256":"d32056f37961ed580dec192b7edefae6ea466b71c882f6ffb1d4c1a2ebff559c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"28iBixl5T9LwuQyO+ssAFNknli9GuxcKn55zsPnzy4/6sQ8s4WyNSlQAY2uy4MjFILogYfCA5WVCHZAXdK69Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T03:55:25.657127Z","bundle_sha256":"ceba521d9c73915c6edfe351a06ec092ab182b612fc4b70d9d921998ec3c0429"}}