Pith Number

pith:TEHC4IS4

pith:2026:TEHC4IS4ANSSLFVC2HWJEFMAQM

not attested not anchored not stored refs pending

Zero-Shot MARL Benchmark in the Cyber-Physical Mobility Lab

Bassam Alrifaee, Fynn Belderink, Jianye Xu, Julius Beerwerth, Simon Sch\"afer

A benchmark platform tests MARL policies for vehicles across simulation, digital twin, and physical hardware in zero-shot fashion.

arxiv:2601.16578 v2 · 2026-01-23 · cs.RO · cs.SY · eess.SY

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\pithnumber{TEHC4IS4ANSSLFVC2HWJEFMAQM}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We demonstrate its use by deploying a SigmaRL-trained policy across all three domains, revealing two complementary sources of performance degradation: architectural differences between simulation and hardware control stacks, and the sim-to-real gap induced by increasing environmental realism.

C2weakest assumption

The assumption that the CPM Lab setup and the chosen SigmaRL policy provide a representative test for general MARL sim-to-real challenges in CAVs.

C3one line summary

Introduces an open-source benchmark integrating simulation, digital twin, and physical testbed for zero-shot evaluation of MARL policies in CAVs, identifying architectural and realism-induced performance degradations.

Receipt and verification

First computed	2026-05-27T01:05:42.941721Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

990e2e225c03652596a2d1ec9215808302df1e402109c42074afa589301f2313

Aliases

arxiv: 2601.16578 · arxiv_version: 2601.16578v2 · doi: 10.48550/arxiv.2601.16578 · pith_short_12: TEHC4IS4ANSS · pith_short_16: TEHC4IS4ANSSLFVC · pith_short_8: TEHC4IS4

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/TEHC4IS4ANSSLFVC2HWJEFMAQM \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 990e2e225c03652596a2d1ec9215808302df1e402109c42074afa589301f2313

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5c290505fc2f74a47fd5f474c41739489dbaa7e072191823013c9ec4fd0660bb",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-01-23T09:26:36Z",
    "title_canon_sha256": "63c442c584613dfe586e265485ca9b3192cd74aa9a3a927124b2b2d81c453b35"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2601.16578",
    "kind": "arxiv",
    "version": 2
  }
}