{"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"}