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Based on this platform, we propose STG-MAPPO, a Semantic Task Graph-enhanced variant of Multi-Agent Proximal Policy Optimization.","weakest_assumption":"The integration of DI-engine with a six-degree-of-freedom underwater AUV target-tracking simulator produces a sufficiently accurate and representative model of real acoustic constraints, observation limits, and vehicle dynamics to support valid comparisons of MARL algorithms for persistent tracking."}},"verdict_id":"1ad9e6f1-507b-46c5-87f1-86602615df0d"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:ff0cacc8ce238de70c770fb1ed8230ec932dd8825f62254f80462730f0d9653d","target":"record","created_at":"2026-05-20T00:01:03Z","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":"66dd282aad86473fd41e7b1768c2af7581bc7e953d74a30d85e57bd4a7c19fe3","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T01:55:47Z","title_canon_sha256":"30aa8c96c433e5863bf5afd7e859f2275452e0e7d01a87639b6680cdcc3f69b4"},"schema_version":"1.0","source":{"id":"2605.15528","kind":"arxiv","version":1}},"canonical_sha256":"f21bd03b61ec5414111fcda215f0ed4594fbe2b83777521b68d6dfdd611002ef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f21bd03b61ec5414111fcda215f0ed4594fbe2b83777521b68d6dfdd611002ef","first_computed_at":"2026-05-20T00:01:03.541298Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:01:03.541298Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uPycqjDoyY6pG0MLAV5GxP0KYwbAqMcqEHv87y45j7dktAkQlnDxlKP4XR4pxGj/JNW1sZGv+nJLHXIMJXwzDA==","signature_status":"signed_v1","signed_at":"2026-05-20T00:01:03.542162Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.15528","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ff0cacc8ce238de70c770fb1ed8230ec932dd8825f62254f80462730f0d9653d","sha256:b854bd4fe92c2760efa1c74e3664130925692a5593b12f1bda4113b6df95e87f"],"state_sha256":"65182bc24cea1a094b98602470b29a3c39ded395d22909c24a4886e46eea6ab3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wv4KVPwKjynu6S/AF1fmnCefONUbBE+PPT0pwa3ST51oEKHnaex6DBR4N7YSv7+GQDS7cdvScBxFJySyveIbDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T15:15:36.644494Z","bundle_sha256":"8255e9c7f1d868c87dfb540b8134df69d83ddc032efa9f00d24f4d68b599d6ff"}}