{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:LOC73Q73APLPG6WUDIGO56G5IP","short_pith_number":"pith:LOC73Q73","canonical_record":{"source":{"id":"2405.04308","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.NE","submitted_at":"2024-05-07T13:33:36Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"42965f8f589dd1fcc0938013f7a9a3841b4c8c397ba5c058f23b1c1a31f7f9db","abstract_canon_sha256":"4c340907a4ed1ed195a3b7dae841b81f1652ff9ec50390852f8f27ed7bcbc7ab"},"schema_version":"1.0"},"canonical_sha256":"5b85fdc3fb03d6f37ad41a0ceef8dd43cfc1ffd86a556a19f9f32988ce083f31","source":{"kind":"arxiv","id":"2405.04308","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.04308","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"arxiv_version","alias_value":"2405.04308v1","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.04308","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_12","alias_value":"LOC73Q73APLP","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_16","alias_value":"LOC73Q73APLPG6WU","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_8","alias_value":"LOC73Q73","created_at":"2026-07-05T08:16:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:LOC73Q73APLPG6WUDIGO56G5IP","target":"record","payload":{"canonical_record":{"source":{"id":"2405.04308","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.NE","submitted_at":"2024-05-07T13:33:36Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"42965f8f589dd1fcc0938013f7a9a3841b4c8c397ba5c058f23b1c1a31f7f9db","abstract_canon_sha256":"4c340907a4ed1ed195a3b7dae841b81f1652ff9ec50390852f8f27ed7bcbc7ab"},"schema_version":"1.0"},"canonical_sha256":"5b85fdc3fb03d6f37ad41a0ceef8dd43cfc1ffd86a556a19f9f32988ce083f31","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:16:35.063155Z","signature_b64":"qbGrm4r6/n+mYAWJX8qyRzDCTBKLrrh0o58aS4J5c2YPmQ77Z0LyCT1PizvhM+JRhc0N0PuRMXblDfUkeh4ICg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5b85fdc3fb03d6f37ad41a0ceef8dd43cfc1ffd86a556a19f9f32988ce083f31","last_reissued_at":"2026-07-05T08:16:35.062731Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:16:35.062731Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.04308","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":"2026-07-05T08:16:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6U+mhlRx+sSl5yMEHkdKzJJJQJEHd1fdDiyQGG3YTC44q8vSbMMKVlgwSTMhK9wi9JrYODG4tFSSIJSEw4hbCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:59:17.968582Z"},"content_sha256":"c87093bb5621eac97398613e8c0e77d6044dbb7d137ed1cb109a65799f792a41","schema_version":"1.0","event_id":"sha256:c87093bb5621eac97398613e8c0e77d6044dbb7d137ed1cb109a65799f792a41"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:LOC73Q73APLPG6WUDIGO56G5IP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Quality with Just Enough Diversity in Evolutionary Policy Search","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.NE","authors_text":"Antoine Cully, Dennis G. Wilson, Emmanuel Rachelson, Luca Grillotti, Paul Templier","submitted_at":"2024-05-07T13:33:36Z","abstract_excerpt":"Evolution Strategies (ES) are effective gradient-free optimization methods that can be competitive with gradient-based approaches for policy search. ES only rely on the total episodic scores of solutions in their population, from which they estimate fitness gradients for their update with no access to true gradient information. However this makes them sensitive to deceptive fitness landscapes, and they tend to only explore one way to solve a problem. Quality-Diversity methods such as MAP-Elites introduced additional information with behavior descriptors (BD) to return a population of diverse s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.04308","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/2405.04308/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":"2026-07-05T08:16:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rw2qlEvNQJ4S/Vnf+Lg3Dlkg9m1lVC46DNzQ8QgST0a8COvfkvw43T8PKQYxQmSpQkdeZjPx8XWiL0CpUyzmCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T16:59:17.968951Z"},"content_sha256":"b832c7359d518fab5b033069209a8a9456e5f72e970bd7b3dc14413fcfff4dd4","schema_version":"1.0","event_id":"sha256:b832c7359d518fab5b033069209a8a9456e5f72e970bd7b3dc14413fcfff4dd4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LOC73Q73APLPG6WUDIGO56G5IP/bundle.json","state_url":"https://pith.science/pith/LOC73Q73APLPG6WUDIGO56G5IP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LOC73Q73APLPG6WUDIGO56G5IP/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":"2026-07-06T16:59:17Z","links":{"resolver":"https://pith.science/pith/LOC73Q73APLPG6WUDIGO56G5IP","bundle":"https://pith.science/pith/LOC73Q73APLPG6WUDIGO56G5IP/bundle.json","state":"https://pith.science/pith/LOC73Q73APLPG6WUDIGO56G5IP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LOC73Q73APLPG6WUDIGO56G5IP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LOC73Q73APLPG6WUDIGO56G5IP","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":"4c340907a4ed1ed195a3b7dae841b81f1652ff9ec50390852f8f27ed7bcbc7ab","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.NE","submitted_at":"2024-05-07T13:33:36Z","title_canon_sha256":"42965f8f589dd1fcc0938013f7a9a3841b4c8c397ba5c058f23b1c1a31f7f9db"},"schema_version":"1.0","source":{"id":"2405.04308","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.04308","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"arxiv_version","alias_value":"2405.04308v1","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.04308","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_12","alias_value":"LOC73Q73APLP","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_16","alias_value":"LOC73Q73APLPG6WU","created_at":"2026-07-05T08:16:35Z"},{"alias_kind":"pith_short_8","alias_value":"LOC73Q73","created_at":"2026-07-05T08:16:35Z"}],"graph_snapshots":[{"event_id":"sha256:b832c7359d518fab5b033069209a8a9456e5f72e970bd7b3dc14413fcfff4dd4","target":"graph","created_at":"2026-07-05T08:16:35Z","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/2405.04308/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Evolution Strategies (ES) are effective gradient-free optimization methods that can be competitive with gradient-based approaches for policy search. ES only rely on the total episodic scores of solutions in their population, from which they estimate fitness gradients for their update with no access to true gradient information. However this makes them sensitive to deceptive fitness landscapes, and they tend to only explore one way to solve a problem. Quality-Diversity methods such as MAP-Elites introduced additional information with behavior descriptors (BD) to return a population of diverse s","authors_text":"Antoine Cully, Dennis G. Wilson, Emmanuel Rachelson, Luca Grillotti, Paul Templier","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.NE","submitted_at":"2024-05-07T13:33:36Z","title":"Quality with Just Enough Diversity in Evolutionary Policy Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.04308","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:c87093bb5621eac97398613e8c0e77d6044dbb7d137ed1cb109a65799f792a41","target":"record","created_at":"2026-07-05T08:16:35Z","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":"4c340907a4ed1ed195a3b7dae841b81f1652ff9ec50390852f8f27ed7bcbc7ab","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.NE","submitted_at":"2024-05-07T13:33:36Z","title_canon_sha256":"42965f8f589dd1fcc0938013f7a9a3841b4c8c397ba5c058f23b1c1a31f7f9db"},"schema_version":"1.0","source":{"id":"2405.04308","kind":"arxiv","version":1}},"canonical_sha256":"5b85fdc3fb03d6f37ad41a0ceef8dd43cfc1ffd86a556a19f9f32988ce083f31","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5b85fdc3fb03d6f37ad41a0ceef8dd43cfc1ffd86a556a19f9f32988ce083f31","first_computed_at":"2026-07-05T08:16:35.062731Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:16:35.062731Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qbGrm4r6/n+mYAWJX8qyRzDCTBKLrrh0o58aS4J5c2YPmQ77Z0LyCT1PizvhM+JRhc0N0PuRMXblDfUkeh4ICg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:16:35.063155Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.04308","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c87093bb5621eac97398613e8c0e77d6044dbb7d137ed1cb109a65799f792a41","sha256:b832c7359d518fab5b033069209a8a9456e5f72e970bd7b3dc14413fcfff4dd4"],"state_sha256":"96dc086826b2afd84d0cc208a46cfe3c894043ace94372f82049c79800ef0e1b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fflDpfMh8LpE1ovMxyV6iV8H0gu/iX0G5Yu5l8DYrJEvRfrig3Hn2ibznwEqVytkvIIG7RKAebQu06o7AGK1Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T16:59:17.970855Z","bundle_sha256":"c7d7db485e5692ad5bb7493c58e72c03c86bd3737927e71e686f4284449662f5"}}