{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:H2FWCMAZ4M6HCDHIX7WRDV3ORS","short_pith_number":"pith:H2FWCMAZ","canonical_record":{"source":{"id":"1709.06620","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-19T19:26:20Z","cross_cats_sorted":["cs.AI","cs.LG","cs.MA","cs.NE"],"title_canon_sha256":"c7ab42fb214da11359dc47d08bec2afecd6853ac5a486fc3f75849788b05cfa1","abstract_canon_sha256":"a9960e5ddc20cd1e000dc42d2d2d0b8be57c12ddae2d7e9a3ee81b26c2fbad5f"},"schema_version":"1.0"},"canonical_sha256":"3e8b613019e33c710ce8bfed11d76e8c8edf232b514511e841fb52520a693848","source":{"kind":"arxiv","id":"1709.06620","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.06620","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"arxiv_version","alias_value":"1709.06620v1","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.06620","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"pith_short_12","alias_value":"H2FWCMAZ4M6H","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"H2FWCMAZ4M6HCDHI","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"H2FWCMAZ","created_at":"2026-05-18T12:31:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:H2FWCMAZ4M6HCDHIX7WRDV3ORS","target":"record","payload":{"canonical_record":{"source":{"id":"1709.06620","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-19T19:26:20Z","cross_cats_sorted":["cs.AI","cs.LG","cs.MA","cs.NE"],"title_canon_sha256":"c7ab42fb214da11359dc47d08bec2afecd6853ac5a486fc3f75849788b05cfa1","abstract_canon_sha256":"a9960e5ddc20cd1e000dc42d2d2d0b8be57c12ddae2d7e9a3ee81b26c2fbad5f"},"schema_version":"1.0"},"canonical_sha256":"3e8b613019e33c710ce8bfed11d76e8c8edf232b514511e841fb52520a693848","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:34:40.967918Z","signature_b64":"scnBy35ribme5GoM0Usmaw4sUNXuVtboB1gU/m3S6nvK9gtQVAxodAc/0sXhFcoHYpnHqekOnaVYI34lbgEeCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3e8b613019e33c710ce8bfed11d76e8c8edf232b514511e841fb52520a693848","last_reissued_at":"2026-05-18T00:34:40.967151Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:34:40.967151Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.06620","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":"2026-05-18T00:34:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IcI7W7k12l6b9h+bCAxTJVBKgFzYfkFsK3vbcG4ahVXA2pBEQkjThyCI7ITBCkjIQANBuoDdksAITTV8VZ2dDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T20:07:23.104413Z"},"content_sha256":"cca01f725ad08105ce7969a3898c1ca1e1b0c21033c38eafe33b65d4d212d734","schema_version":"1.0","event_id":"sha256:cca01f725ad08105ce7969a3898c1ca1e1b0c21033c38eafe33b65d4d212d734"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:H2FWCMAZ4M6HCDHIX7WRDV3ORS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning of Coordination Policies for Robotic Swarms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.MA","cs.NE"],"primary_cat":"cs.RO","authors_text":"Angela P. Schoellig, Qiyang Li, Quinlan Sykora, Xintong Du, Yizhou Huang","submitted_at":"2017-09-19T19:26:20Z","abstract_excerpt":"Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however, designing effective distributed policies for large-scale robotic swarms to achieve a global objective can be challenging. Although it is often possible to design an optimal centralized strategy for smaller numbers of agents, those methods can fail as the number of agents increases. Motivated by the growing success of machine learning, we develop a deep lear"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.06620","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":"2026-05-18T00:34:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zwRUJEkjfBgq3ouKlM9nBZULOJ4QBDJUdP+DF+S25Xqbj60VrfgG0P5ZMPnTfGMOfMDQB6+qfKDyWnXaFacAAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T20:07:23.104920Z"},"content_sha256":"320a5469201193d0cede1ad294a6c9bad9a6829f8074f30ce2f6e17b5b1b1ba5","schema_version":"1.0","event_id":"sha256:320a5469201193d0cede1ad294a6c9bad9a6829f8074f30ce2f6e17b5b1b1ba5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/bundle.json","state_url":"https://pith.science/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/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":"2026-05-31T20:07:23Z","links":{"resolver":"https://pith.science/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS","bundle":"https://pith.science/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/bundle.json","state":"https://pith.science/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H2FWCMAZ4M6HCDHIX7WRDV3ORS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:H2FWCMAZ4M6HCDHIX7WRDV3ORS","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":"a9960e5ddc20cd1e000dc42d2d2d0b8be57c12ddae2d7e9a3ee81b26c2fbad5f","cross_cats_sorted":["cs.AI","cs.LG","cs.MA","cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-19T19:26:20Z","title_canon_sha256":"c7ab42fb214da11359dc47d08bec2afecd6853ac5a486fc3f75849788b05cfa1"},"schema_version":"1.0","source":{"id":"1709.06620","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.06620","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"arxiv_version","alias_value":"1709.06620v1","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.06620","created_at":"2026-05-18T00:34:40Z"},{"alias_kind":"pith_short_12","alias_value":"H2FWCMAZ4M6H","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"H2FWCMAZ4M6HCDHI","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"H2FWCMAZ","created_at":"2026-05-18T12:31:18Z"}],"graph_snapshots":[{"event_id":"sha256:320a5469201193d0cede1ad294a6c9bad9a6829f8074f30ce2f6e17b5b1b1ba5","target":"graph","created_at":"2026-05-18T00:34:40Z","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":"Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however, designing effective distributed policies for large-scale robotic swarms to achieve a global objective can be challenging. Although it is often possible to design an optimal centralized strategy for smaller numbers of agents, those methods can fail as the number of agents increases. Motivated by the growing success of machine learning, we develop a deep lear","authors_text":"Angela P. Schoellig, Qiyang Li, Quinlan Sykora, Xintong Du, Yizhou Huang","cross_cats":["cs.AI","cs.LG","cs.MA","cs.NE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-19T19:26:20Z","title":"Learning of Coordination Policies for Robotic Swarms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.06620","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:cca01f725ad08105ce7969a3898c1ca1e1b0c21033c38eafe33b65d4d212d734","target":"record","created_at":"2026-05-18T00:34:40Z","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":"a9960e5ddc20cd1e000dc42d2d2d0b8be57c12ddae2d7e9a3ee81b26c2fbad5f","cross_cats_sorted":["cs.AI","cs.LG","cs.MA","cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-19T19:26:20Z","title_canon_sha256":"c7ab42fb214da11359dc47d08bec2afecd6853ac5a486fc3f75849788b05cfa1"},"schema_version":"1.0","source":{"id":"1709.06620","kind":"arxiv","version":1}},"canonical_sha256":"3e8b613019e33c710ce8bfed11d76e8c8edf232b514511e841fb52520a693848","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3e8b613019e33c710ce8bfed11d76e8c8edf232b514511e841fb52520a693848","first_computed_at":"2026-05-18T00:34:40.967151Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:34:40.967151Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"scnBy35ribme5GoM0Usmaw4sUNXuVtboB1gU/m3S6nvK9gtQVAxodAc/0sXhFcoHYpnHqekOnaVYI34lbgEeCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:34:40.967918Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.06620","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cca01f725ad08105ce7969a3898c1ca1e1b0c21033c38eafe33b65d4d212d734","sha256:320a5469201193d0cede1ad294a6c9bad9a6829f8074f30ce2f6e17b5b1b1ba5"],"state_sha256":"bbbfcde83d25e5edafc9510483d80b9116e40274a401da70de747377bdfb1bf2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1MioMZJkuDUa6Jp986HXn5ZeFtaE2L7B5+BthALtWVzwsEpnlVvMXzSgTEG5UVWPoZRKLjOrUCyx3zgY0/BRAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T20:07:23.107327Z","bundle_sha256":"e5405e5b443ee17d7cbe646a7c46ff9c77fde7fe48451b89c2923c5e189d437b"}}