{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:IJD4MCAFKO5IBX7LIB35MGBIA7","short_pith_number":"pith:IJD4MCAF","canonical_record":{"source":{"id":"2301.06864","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-17T13:18:01Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"54039fd9e5e104f1f17480703d3734fd87539e4383eb6eed2145a075e6751e2e","abstract_canon_sha256":"7f7128ede1f616886f3a1751ace8222e9706981c4bc1cc2c0995208fa8cb699c"},"schema_version":"1.0"},"canonical_sha256":"4247c6080553ba80dfeb4077d6182807c7e1ef0cb1c78e9ef4214f49acaf059b","source":{"kind":"arxiv","id":"2301.06864","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.06864","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"arxiv_version","alias_value":"2301.06864v1","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.06864","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_12","alias_value":"IJD4MCAFKO5I","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_16","alias_value":"IJD4MCAFKO5IBX7L","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_8","alias_value":"IJD4MCAF","created_at":"2026-07-05T05:33:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:IJD4MCAFKO5IBX7LIB35MGBIA7","target":"record","payload":{"canonical_record":{"source":{"id":"2301.06864","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-17T13:18:01Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"54039fd9e5e104f1f17480703d3734fd87539e4383eb6eed2145a075e6751e2e","abstract_canon_sha256":"7f7128ede1f616886f3a1751ace8222e9706981c4bc1cc2c0995208fa8cb699c"},"schema_version":"1.0"},"canonical_sha256":"4247c6080553ba80dfeb4077d6182807c7e1ef0cb1c78e9ef4214f49acaf059b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:33:36.589535Z","signature_b64":"ynv8eMNTh2ZyzjUOoMDe7e+zreLt1jAuv5Z61bjDqIZreFx+Knhva/+ya122W8mXpp6x7/Pkz2BmCZpexPBHAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4247c6080553ba80dfeb4077d6182807c7e1ef0cb1c78e9ef4214f49acaf059b","last_reissued_at":"2026-07-05T05:33:36.589156Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:33:36.589156Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.06864","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":"2026-07-05T05:33:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lmksgLE+26Poi09DilxW9Bqd56yHA6mkdwWvJeabtCuK036akq0cWKusbcfD5T2+nf5OyP82GvwR6o5H+nSJDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T14:15:55.873874Z"},"content_sha256":"05595f03e8742c39eb883e57c32cce12dd3d69d5536b291abda487aec32e6cbd","schema_version":"1.0","event_id":"sha256:05595f03e8742c39eb883e57c32cce12dd3d69d5536b291abda487aec32e6cbd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:IJD4MCAFKO5IBX7LIB35MGBIA7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Show me what you want: Inverse reinforcement learning to automatically design robot swarms by demonstration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"David Garz\\'on Ramos, Ilyes Gharbi, Jonas Kuckling, Mauro Birattari","submitted_at":"2023-01-17T13:18:01Z","abstract_excerpt":"Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, D"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.06864","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/2301.06864/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":"2026-07-05T05:33:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"E7cHHEyv6Lfwm3b2TuW0llv2D+2EUiWcFXDOIDGIlL3Q/uBJEfeEffX//1V9icOqOlaaSMgbEEHsgGqVMX7tDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T14:15:55.874527Z"},"content_sha256":"e3ff96dfbf9808a8ba6e541c4d651f04b959f5af2ec0029a40b0224fc56ef6df","schema_version":"1.0","event_id":"sha256:e3ff96dfbf9808a8ba6e541c4d651f04b959f5af2ec0029a40b0224fc56ef6df"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/bundle.json","state_url":"https://pith.science/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/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":"2026-07-05T14:15:55Z","links":{"resolver":"https://pith.science/pith/IJD4MCAFKO5IBX7LIB35MGBIA7","bundle":"https://pith.science/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/bundle.json","state":"https://pith.science/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IJD4MCAFKO5IBX7LIB35MGBIA7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:IJD4MCAFKO5IBX7LIB35MGBIA7","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":"7f7128ede1f616886f3a1751ace8222e9706981c4bc1cc2c0995208fa8cb699c","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-17T13:18:01Z","title_canon_sha256":"54039fd9e5e104f1f17480703d3734fd87539e4383eb6eed2145a075e6751e2e"},"schema_version":"1.0","source":{"id":"2301.06864","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.06864","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"arxiv_version","alias_value":"2301.06864v1","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.06864","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_12","alias_value":"IJD4MCAFKO5I","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_16","alias_value":"IJD4MCAFKO5IBX7L","created_at":"2026-07-05T05:33:36Z"},{"alias_kind":"pith_short_8","alias_value":"IJD4MCAF","created_at":"2026-07-05T05:33:36Z"}],"graph_snapshots":[{"event_id":"sha256:e3ff96dfbf9808a8ba6e541c4d651f04b959f5af2ec0029a40b0224fc56ef6df","target":"graph","created_at":"2026-07-05T05:33:36Z","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/2301.06864/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, D","authors_text":"David Garz\\'on Ramos, Ilyes Gharbi, Jonas Kuckling, Mauro Birattari","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-17T13:18:01Z","title":"Show me what you want: Inverse reinforcement learning to automatically design robot swarms by demonstration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.06864","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":"sha256:05595f03e8742c39eb883e57c32cce12dd3d69d5536b291abda487aec32e6cbd","target":"record","created_at":"2026-07-05T05:33:36Z","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":"7f7128ede1f616886f3a1751ace8222e9706981c4bc1cc2c0995208fa8cb699c","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-01-17T13:18:01Z","title_canon_sha256":"54039fd9e5e104f1f17480703d3734fd87539e4383eb6eed2145a075e6751e2e"},"schema_version":"1.0","source":{"id":"2301.06864","kind":"arxiv","version":1}},"canonical_sha256":"4247c6080553ba80dfeb4077d6182807c7e1ef0cb1c78e9ef4214f49acaf059b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4247c6080553ba80dfeb4077d6182807c7e1ef0cb1c78e9ef4214f49acaf059b","first_computed_at":"2026-07-05T05:33:36.589156Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:33:36.589156Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ynv8eMNTh2ZyzjUOoMDe7e+zreLt1jAuv5Z61bjDqIZreFx+Knhva/+ya122W8mXpp6x7/Pkz2BmCZpexPBHAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:33:36.589535Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.06864","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05595f03e8742c39eb883e57c32cce12dd3d69d5536b291abda487aec32e6cbd","sha256:e3ff96dfbf9808a8ba6e541c4d651f04b959f5af2ec0029a40b0224fc56ef6df"],"state_sha256":"cdfca5838a41de5e549b42c7d0fe56ef94284a96b34709fd0324821fb3925c7d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xejuOfFI5x0i65/eVH+hm3tYCFzt2D77RHy2bYQkSWZ3bps8RS7l0I4WJLIx6QTHdkHpHi8gElYOUBkLAGU8DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T14:15:55.877528Z","bundle_sha256":"3e773b4cb2f28b536dfae8f1d305344f4eef2f227201a6a9b4023ebb47123a77"}}