{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:OUSGELLN5EXGB3FZEHDSYLAC2O","short_pith_number":"pith:OUSGELLN","canonical_record":{"source":{"id":"2409.19831","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T00:02:56Z","cross_cats_sorted":["cs.HC","cs.LG","cs.MA"],"title_canon_sha256":"d92d9531f51eca3b3927a5667f062ce766028385b7e852a724ea00750e810f5d","abstract_canon_sha256":"f6ecc02f6b16a53a1c383980232036b56a5d274392f0955ebd00b3b740e8026d"},"schema_version":"1.0"},"canonical_sha256":"7524622d6de92e60ecb921c72c2c02d3a3e4e940ecc07b7253ae60db895c107c","source":{"kind":"arxiv","id":"2409.19831","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.19831","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"arxiv_version","alias_value":"2409.19831v2","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.19831","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_12","alias_value":"OUSGELLN5EXG","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_16","alias_value":"OUSGELLN5EXGB3FZ","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_8","alias_value":"OUSGELLN","created_at":"2026-07-05T10:20:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:OUSGELLN5EXGB3FZEHDSYLAC2O","target":"record","payload":{"canonical_record":{"source":{"id":"2409.19831","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T00:02:56Z","cross_cats_sorted":["cs.HC","cs.LG","cs.MA"],"title_canon_sha256":"d92d9531f51eca3b3927a5667f062ce766028385b7e852a724ea00750e810f5d","abstract_canon_sha256":"f6ecc02f6b16a53a1c383980232036b56a5d274392f0955ebd00b3b740e8026d"},"schema_version":"1.0"},"canonical_sha256":"7524622d6de92e60ecb921c72c2c02d3a3e4e940ecc07b7253ae60db895c107c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:20:15.600611Z","signature_b64":"2koTmt4DeTPRhBP/qyek1rtHRf8rlm6cNdZxyqmJ+WGhPFtdZhBM/VmjmTEJXA6ZrL35DJZdqEss+IvRU9ZABA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7524622d6de92e60ecb921c72c2c02d3a3e4e940ecc07b7253ae60db895c107c","last_reissued_at":"2026-07-05T10:20:15.600110Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:20:15.600110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.19831","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:20:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6DiEYZOH3Bk+pS7NUyTjEN2SjrdjxoYxMPqclys+o7ntf+VvWxxJDbFHpNlbJsCR/87aROUFmBukV7yt0H9NAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T10:16:12.110064Z"},"content_sha256":"d1fae1d34529131247f87fe4f4a84e2dc87b85616a46151dff636ad2aca446b2","schema_version":"1.0","event_id":"sha256:d1fae1d34529131247f87fe4f4a84e2dc87b85616a46151dff636ad2aca446b2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:OUSGELLN5EXGB3FZEHDSYLAC2O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enabling Multi-Robot Collaboration from Single-Human Guidance","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.HC","cs.LG","cs.MA"],"primary_cat":"cs.RO","authors_text":"Boyuan Chen, Lingyu Zhang, Paul Sajda, Zhengran Ji","submitted_at":"2024-09-30T00:02:56Z","abstract_excerpt":"Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will emerge. Other studies propose to learn from demonstrations of a group of collaborative experts. Instead, we propose an efficient and explicit way of learning collaborative behaviors in multi-agent systems by leveraging expertise from only a single human. Our insight is that humans can naturally take on various roles in a team. We show that agents can effectively l"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.19831","kind":"arxiv","version":2},"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/2409.19831/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":"2026-07-05T10:20:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3qGfLZ3KwvXm7i+mqsMycC+On2Nv8JDnX8NDCf0d1o6FF7AXFGH+o1t+JDOIRvlLVZ9AwcTrkWt2fF5SDhkIDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T10:16:12.110591Z"},"content_sha256":"cf84606f3041f75ddb51c712a3f9b048f48b6ec37a023f6a1b33302e8041b808","schema_version":"1.0","event_id":"sha256:cf84606f3041f75ddb51c712a3f9b048f48b6ec37a023f6a1b33302e8041b808"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/bundle.json","state_url":"https://pith.science/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/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":"2026-08-15T10:16:12Z","links":{"resolver":"https://pith.science/pith/OUSGELLN5EXGB3FZEHDSYLAC2O","bundle":"https://pith.science/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/bundle.json","state":"https://pith.science/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OUSGELLN5EXGB3FZEHDSYLAC2O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:OUSGELLN5EXGB3FZEHDSYLAC2O","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":"f6ecc02f6b16a53a1c383980232036b56a5d274392f0955ebd00b3b740e8026d","cross_cats_sorted":["cs.HC","cs.LG","cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T00:02:56Z","title_canon_sha256":"d92d9531f51eca3b3927a5667f062ce766028385b7e852a724ea00750e810f5d"},"schema_version":"1.0","source":{"id":"2409.19831","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.19831","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"arxiv_version","alias_value":"2409.19831v2","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.19831","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_12","alias_value":"OUSGELLN5EXG","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_16","alias_value":"OUSGELLN5EXGB3FZ","created_at":"2026-07-05T10:20:15Z"},{"alias_kind":"pith_short_8","alias_value":"OUSGELLN","created_at":"2026-07-05T10:20:15Z"}],"graph_snapshots":[{"event_id":"sha256:cf84606f3041f75ddb51c712a3f9b048f48b6ec37a023f6a1b33302e8041b808","target":"graph","created_at":"2026-07-05T10:20:15Z","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/2409.19831/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will emerge. Other studies propose to learn from demonstrations of a group of collaborative experts. Instead, we propose an efficient and explicit way of learning collaborative behaviors in multi-agent systems by leveraging expertise from only a single human. Our insight is that humans can naturally take on various roles in a team. We show that agents can effectively l","authors_text":"Boyuan Chen, Lingyu Zhang, Paul Sajda, Zhengran Ji","cross_cats":["cs.HC","cs.LG","cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T00:02:56Z","title":"Enabling Multi-Robot Collaboration from Single-Human Guidance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.19831","kind":"arxiv","version":2},"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:d1fae1d34529131247f87fe4f4a84e2dc87b85616a46151dff636ad2aca446b2","target":"record","created_at":"2026-07-05T10:20:15Z","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":"f6ecc02f6b16a53a1c383980232036b56a5d274392f0955ebd00b3b740e8026d","cross_cats_sorted":["cs.HC","cs.LG","cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-30T00:02:56Z","title_canon_sha256":"d92d9531f51eca3b3927a5667f062ce766028385b7e852a724ea00750e810f5d"},"schema_version":"1.0","source":{"id":"2409.19831","kind":"arxiv","version":2}},"canonical_sha256":"7524622d6de92e60ecb921c72c2c02d3a3e4e940ecc07b7253ae60db895c107c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7524622d6de92e60ecb921c72c2c02d3a3e4e940ecc07b7253ae60db895c107c","first_computed_at":"2026-07-05T10:20:15.600110Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:20:15.600110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2koTmt4DeTPRhBP/qyek1rtHRf8rlm6cNdZxyqmJ+WGhPFtdZhBM/VmjmTEJXA6ZrL35DJZdqEss+IvRU9ZABA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:20:15.600611Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.19831","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d1fae1d34529131247f87fe4f4a84e2dc87b85616a46151dff636ad2aca446b2","sha256:cf84606f3041f75ddb51c712a3f9b048f48b6ec37a023f6a1b33302e8041b808"],"state_sha256":"03fa43edf08edc2415887ab78d54dcb15e4c2dff7154184518bc844463ec13bd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Rhz71RdNLUAy7YABkMBedYPHXeefgEuO608BcpGMTiKvvYFONIT+JJlHhGPuKAnYRemPwhJMprQMnL4eNQ3/Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T10:16:12.114669Z","bundle_sha256":"4f73c8f73a22b6ee590e94d5cbc6bae8f4b4cd54bb0acf828a1d405b1bf8c816"}}