{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:ILGMGOPU7H3BQA74ZKKNPAYPD4","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":"d5a951bbd6b2f457883a81b40eb8155a7b2e90547091284eba64d9eaee96f08a","cross_cats_sorted":["cs.AI","cs.RO","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2020-02-14T10:19:52Z","title_canon_sha256":"170421fcb1cbb910b4a0d79aec9a1c4baa479cb0d57995e69422ce13991a2e5e"},"schema_version":"1.0","source":{"id":"2002.05954","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.05954","created_at":"2026-07-05T03:20:32Z"},{"alias_kind":"arxiv_version","alias_value":"2002.05954v4","created_at":"2026-07-05T03:20:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.05954","created_at":"2026-07-05T03:20:32Z"},{"alias_kind":"pith_short_12","alias_value":"ILGMGOPU7H3B","created_at":"2026-07-05T03:20:32Z"},{"alias_kind":"pith_short_16","alias_value":"ILGMGOPU7H3BQA74","created_at":"2026-07-05T03:20:32Z"},{"alias_kind":"pith_short_8","alias_value":"ILGMGOPU","created_at":"2026-07-05T03:20:32Z"}],"graph_snapshots":[{"event_id":"sha256:bcf57fb7b73035eb56d37a1f763b171fd455f8db6c7dc32e77e35cec46912add","target":"graph","created_at":"2026-07-05T03:20:32Z","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/2002.05954/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is achieved by explicitly separating the state-action spaces across the hierarchy, which allows the integration of task-relevant knowledge per layer. We propose an RL-based planner to efficiently leverage the information in the planning layer of the hierarchy, while the control layer learns a goal-conditioned control policy. The hierarchy is trained jointly but allo","authors_text":"Emre Aksan, Lukas Jendele, Otmar Hilliges, Sammy Christen","cross_cats":["cs.AI","cs.RO","stat.ML"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2020-02-14T10:19:52Z","title":"Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.05954","kind":"arxiv","version":4},"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":"sha256:4e79ea6a93ac5081147859b1d9683eb986a664e713b9906235f5491d4a7aa62e","target":"record","created_at":"2026-07-05T03:20:32Z","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":"d5a951bbd6b2f457883a81b40eb8155a7b2e90547091284eba64d9eaee96f08a","cross_cats_sorted":["cs.AI","cs.RO","stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2020-02-14T10:19:52Z","title_canon_sha256":"170421fcb1cbb910b4a0d79aec9a1c4baa479cb0d57995e69422ce13991a2e5e"},"schema_version":"1.0","source":{"id":"2002.05954","kind":"arxiv","version":4}},"canonical_sha256":"42ccc339f4f9f61803fcca94d7830f1f2cd5b4fa51a2322f3e094c31e2b72e69","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42ccc339f4f9f61803fcca94d7830f1f2cd5b4fa51a2322f3e094c31e2b72e69","first_computed_at":"2026-07-05T03:20:32.373877Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:20:32.373877Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mhMYacdVbWv7iz5POLqrB/pVbkNFZ9gjogehCohQ85rGI79epJrG+IldSTVACRaJ8cNwMH8Y7WjxmzYRw+ytAA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:20:32.374226Z","signed_message":"canonical_sha256_bytes"},"source_id":"2002.05954","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4e79ea6a93ac5081147859b1d9683eb986a664e713b9906235f5491d4a7aa62e","sha256:bcf57fb7b73035eb56d37a1f763b171fd455f8db6c7dc32e77e35cec46912add"],"state_sha256":"2c3d9884f4558a76c910b431fac205c53f0e2f5abbe35954b2d942b609346c4f"}