{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:EOWWHGEGCP4P67UCVULR45WDHK","short_pith_number":"pith:EOWWHGEG","canonical_record":{"source":{"id":"2203.02650","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-05T03:01:01Z","cross_cats_sorted":[],"title_canon_sha256":"5898ed9c8151d1b646d6063af5743f4b5052c4105cb2b08fff32aef9c7ba5187","abstract_canon_sha256":"2cf306abb224ba66874db67550607b0ac36870eeef8cf3e875ec73a5d23ba57d"},"schema_version":"1.0"},"canonical_sha256":"23ad63988613f8ff7e82ad171e76c33a9eb4fe3cd22b45a0aa8d7f58c1edae52","source":{"kind":"arxiv","id":"2203.02650","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.02650","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"arxiv_version","alias_value":"2203.02650v1","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.02650","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_12","alias_value":"EOWWHGEGCP4P","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_16","alias_value":"EOWWHGEGCP4P67UC","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_8","alias_value":"EOWWHGEG","created_at":"2026-07-05T04:02:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:EOWWHGEGCP4P67UCVULR45WDHK","target":"record","payload":{"canonical_record":{"source":{"id":"2203.02650","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-05T03:01:01Z","cross_cats_sorted":[],"title_canon_sha256":"5898ed9c8151d1b646d6063af5743f4b5052c4105cb2b08fff32aef9c7ba5187","abstract_canon_sha256":"2cf306abb224ba66874db67550607b0ac36870eeef8cf3e875ec73a5d23ba57d"},"schema_version":"1.0"},"canonical_sha256":"23ad63988613f8ff7e82ad171e76c33a9eb4fe3cd22b45a0aa8d7f58c1edae52","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:02:25.649088Z","signature_b64":"x6ONSDmYFHErgypK4GRvX1G3ObqnmHzjzediSp3Jus945A8ar5B9SBo6jA//Z/5HQIOWDei97cTuC39TBCdzDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"23ad63988613f8ff7e82ad171e76c33a9eb4fe3cd22b45a0aa8d7f58c1edae52","last_reissued_at":"2026-07-05T04:02:25.648613Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:02:25.648613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2203.02650","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":"2026-07-05T04:02:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mFR8cbx6oLFScawtiqE3I0FoQKzvru9Q6aV33zzy3kFfUe4JpIssJFiHaYrFpLHLIwEuVhmgLBaeIZyc8r50CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:26:53.404166Z"},"content_sha256":"06306849081348eb133e083abd40505e02a5f08d1eb59ed6d40feea3adf5fbf8","schema_version":"1.0","event_id":"sha256:06306849081348eb133e083abd40505e02a5f08d1eb59ed6d40feea3adf5fbf8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:EOWWHGEGCP4P67UCVULR45WDHK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guijie Zhu, Hao Zhai, Huaxing Huang, Yuwei Cai, Ze Shi, Zhaohui Dong, Zhifeng Hao, Zhun Fan","submitted_at":"2022-03-05T03:01:01Z","abstract_excerpt":"Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on certain occasions. In this paper, we presented a vision-based decentralized collision-avoidance policy for multi-UAV systems, which takes depth images and inertial measurements as sensory inputs and outputs UAV's steering commands. The policy is trained together with the latent representation of depth images using a policy gradient-based reinforcement learnin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.02650","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/2203.02650/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":"2026-07-05T04:02:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6grZZiWiridwfRbINE8qWRLUin/ON0kNLYdTJzi0DZk1YhGf9J0t+H/L2KxRoVJv6vgFJZWLibbN1PQ3l7p6Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:26:53.404547Z"},"content_sha256":"4e0c1cecf7288c22db4e0a704aeb8587d6351f5c5e684a13961dff513814f89e","schema_version":"1.0","event_id":"sha256:4e0c1cecf7288c22db4e0a704aeb8587d6351f5c5e684a13961dff513814f89e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EOWWHGEGCP4P67UCVULR45WDHK/bundle.json","state_url":"https://pith.science/pith/EOWWHGEGCP4P67UCVULR45WDHK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EOWWHGEGCP4P67UCVULR45WDHK/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":"2026-07-07T10:26:53Z","links":{"resolver":"https://pith.science/pith/EOWWHGEGCP4P67UCVULR45WDHK","bundle":"https://pith.science/pith/EOWWHGEGCP4P67UCVULR45WDHK/bundle.json","state":"https://pith.science/pith/EOWWHGEGCP4P67UCVULR45WDHK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EOWWHGEGCP4P67UCVULR45WDHK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:EOWWHGEGCP4P67UCVULR45WDHK","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":"2cf306abb224ba66874db67550607b0ac36870eeef8cf3e875ec73a5d23ba57d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-05T03:01:01Z","title_canon_sha256":"5898ed9c8151d1b646d6063af5743f4b5052c4105cb2b08fff32aef9c7ba5187"},"schema_version":"1.0","source":{"id":"2203.02650","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.02650","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"arxiv_version","alias_value":"2203.02650v1","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.02650","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_12","alias_value":"EOWWHGEGCP4P","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_16","alias_value":"EOWWHGEGCP4P67UC","created_at":"2026-07-05T04:02:25Z"},{"alias_kind":"pith_short_8","alias_value":"EOWWHGEG","created_at":"2026-07-05T04:02:25Z"}],"graph_snapshots":[{"event_id":"sha256:4e0c1cecf7288c22db4e0a704aeb8587d6351f5c5e684a13961dff513814f89e","target":"graph","created_at":"2026-07-05T04:02:25Z","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/2203.02650/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on certain occasions. In this paper, we presented a vision-based decentralized collision-avoidance policy for multi-UAV systems, which takes depth images and inertial measurements as sensory inputs and outputs UAV's steering commands. The policy is trained together with the latent representation of depth images using a policy gradient-based reinforcement learnin","authors_text":"Guijie Zhu, Hao Zhai, Huaxing Huang, Yuwei Cai, Ze Shi, Zhaohui Dong, Zhifeng Hao, Zhun Fan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-05T03:01:01Z","title":"Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.02650","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":"sha256:06306849081348eb133e083abd40505e02a5f08d1eb59ed6d40feea3adf5fbf8","target":"record","created_at":"2026-07-05T04:02:25Z","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":"2cf306abb224ba66874db67550607b0ac36870eeef8cf3e875ec73a5d23ba57d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-05T03:01:01Z","title_canon_sha256":"5898ed9c8151d1b646d6063af5743f4b5052c4105cb2b08fff32aef9c7ba5187"},"schema_version":"1.0","source":{"id":"2203.02650","kind":"arxiv","version":1}},"canonical_sha256":"23ad63988613f8ff7e82ad171e76c33a9eb4fe3cd22b45a0aa8d7f58c1edae52","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"23ad63988613f8ff7e82ad171e76c33a9eb4fe3cd22b45a0aa8d7f58c1edae52","first_computed_at":"2026-07-05T04:02:25.648613Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:02:25.648613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x6ONSDmYFHErgypK4GRvX1G3ObqnmHzjzediSp3Jus945A8ar5B9SBo6jA//Z/5HQIOWDei97cTuC39TBCdzDA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:02:25.649088Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.02650","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:06306849081348eb133e083abd40505e02a5f08d1eb59ed6d40feea3adf5fbf8","sha256:4e0c1cecf7288c22db4e0a704aeb8587d6351f5c5e684a13961dff513814f89e"],"state_sha256":"8c3e604495a6a471f4c624c103291c54a8cf842e1a68785c78ba6fd8c7f143b4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X9r+zFWT9TTrRhn0QGPORjlH0phM37fF513rCEcHxyeajTPL52PgoDkvK5dsBJGkBuC8L30tQKNtFM0HsdYsAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T10:26:53.406623Z","bundle_sha256":"0a8a2e5818950ac6c3484498771328ee0f85b8262d45bf2db43de6396b168c58"}}