{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:MJBGIKZPJDMIHXMKF7QHQOUZ24","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":"e10b1803f24064b30a1497304eb35308a226dcdd5768718cbe281157710ec9dd","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-05T14:58:05Z","title_canon_sha256":"2f568287ace0a2704a59d71d3769e6e0b3fce061a343d9d332a5a2b84d81cd6a"},"schema_version":"1.0","source":{"id":"2108.02665","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.02665","created_at":"2026-07-05T03:03:35Z"},{"alias_kind":"arxiv_version","alias_value":"2108.02665v1","created_at":"2026-07-05T03:03:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.02665","created_at":"2026-07-05T03:03:35Z"},{"alias_kind":"pith_short_12","alias_value":"MJBGIKZPJDMI","created_at":"2026-07-05T03:03:35Z"},{"alias_kind":"pith_short_16","alias_value":"MJBGIKZPJDMIHXMK","created_at":"2026-07-05T03:03:35Z"},{"alias_kind":"pith_short_8","alias_value":"MJBGIKZP","created_at":"2026-07-05T03:03:35Z"}],"graph_snapshots":[{"event_id":"sha256:0c0a8461005c0616174dbd428c1b84c64923514e677fdd6b135f488408336551","target":"graph","created_at":"2026-07-05T03:03:35Z","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/2108.02665/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches to the task of AUV docking in the continuous domain. We provide a detailed formulation of the reward function, utilized to successfully dock the AUV onto a fixed docking platform. A major contribution that distinguishes our work from the previous approaches is the usage of a physics simulator to define and simulate the underwater environment as well as the D","authors_text":"Bilal Wehbe, Matias Valdenegro-Toro, Mihir Patil","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-05T14:58:05Z","title":"Deep Reinforcement Learning for Continuous Docking Control of Autonomous Underwater Vehicles: A Benchmarking Study"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.02665","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":"sha256:76e0598ff3e4a515df3b3058895cea012308cf20470155425fc84be201509165","target":"record","created_at":"2026-07-05T03:03:35Z","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":"e10b1803f24064b30a1497304eb35308a226dcdd5768718cbe281157710ec9dd","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-05T14:58:05Z","title_canon_sha256":"2f568287ace0a2704a59d71d3769e6e0b3fce061a343d9d332a5a2b84d81cd6a"},"schema_version":"1.0","source":{"id":"2108.02665","kind":"arxiv","version":1}},"canonical_sha256":"6242642b2f48d883dd8a2fe0783a99d7035564feab467dc5fe29b06e0e7cc968","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6242642b2f48d883dd8a2fe0783a99d7035564feab467dc5fe29b06e0e7cc968","first_computed_at":"2026-07-05T03:03:35.156624Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:03:35.156624Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"T6u+CyRaBU7G8XKmJWPU1g1ytDGxPx3y2S4iD8Hq/gPZq21lPUgg/mP4QVXcK9BgKvacj4fw3TAggAhSaNilAg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:03:35.157001Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.02665","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:76e0598ff3e4a515df3b3058895cea012308cf20470155425fc84be201509165","sha256:0c0a8461005c0616174dbd428c1b84c64923514e677fdd6b135f488408336551"],"state_sha256":"9591d886011d3909cba0825917d9379127147a0bcc2959dc7869e5bd46c40ed2"}