{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:VANSSWY2JPXXDASPWQLFNTVHOM","short_pith_number":"pith:VANSSWY2","canonical_record":{"source":{"id":"2105.14471","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-05-30T09:14:39Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"1d85bc3004f6cad93044b933cb0b8f9f0a1515e6d654ba0d19fa5283d058cdbd","abstract_canon_sha256":"dc5ddebbc9e21203c5c7074471749bf8c91bd27c0051217d0316acf41e55f6f9"},"schema_version":"1.0"},"canonical_sha256":"a81b295b1a4bef71824fb41656cea7730c807dd8687ac08d2e74eb1e334d87b3","source":{"kind":"arxiv","id":"2105.14471","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.14471","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"arxiv_version","alias_value":"2105.14471v1","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.14471","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_12","alias_value":"VANSSWY2JPXX","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_16","alias_value":"VANSSWY2JPXXDASP","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_8","alias_value":"VANSSWY2","created_at":"2026-07-05T02:44:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:VANSSWY2JPXXDASPWQLFNTVHOM","target":"record","payload":{"canonical_record":{"source":{"id":"2105.14471","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-05-30T09:14:39Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"1d85bc3004f6cad93044b933cb0b8f9f0a1515e6d654ba0d19fa5283d058cdbd","abstract_canon_sha256":"dc5ddebbc9e21203c5c7074471749bf8c91bd27c0051217d0316acf41e55f6f9"},"schema_version":"1.0"},"canonical_sha256":"a81b295b1a4bef71824fb41656cea7730c807dd8687ac08d2e74eb1e334d87b3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:44:24.295928Z","signature_b64":"X1A4fqw/iNqeSBKzQN33oG95+j/k94w8b5fbvX3x9KR8Mv6r6rkmE4zruq12ORZ5p2sLGc9okdYiKkz4HIQiBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a81b295b1a4bef71824fb41656cea7730c807dd8687ac08d2e74eb1e334d87b3","last_reissued_at":"2026-07-05T02:44:24.295494Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:44:24.295494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.14471","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:44:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aAn6tHn2aUaX3n37C5btSOaeYj6ZY2wl7KLZXkw1OAj3zhR42HBZdaGN9s65HMmWCLMw0m+S3K9r0493+jqYCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T08:02:57.219049Z"},"content_sha256":"a672a01ac4d3cb06949e6d0bfb69405b11560f63690e86d9f689d0905a451a59","schema_version":"1.0","event_id":"sha256:a672a01ac4d3cb06949e6d0bfb69405b11560f63690e86d9f689d0905a451a59"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:VANSSWY2JPXXDASPWQLFNTVHOM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents via an Asymmetric Architecture","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.AI","authors_text":"Chao-Hsien Ting, Chin-Jui Chang, Chun-Yi Lee, Hao-Kang Liu, Yu-Wei Chu, Zhang-Wei Hong","submitted_at":"2021-05-30T09:14:39Z","abstract_excerpt":"Deep reinforcement learning (DRL) has been demonstrated to provide promising results in several challenging decision making and control tasks. However, the required inference costs of deep neural networks (DNNs) could prevent DRL from being applied to mobile robots which cannot afford high energy-consuming computations. To enable DRL methods to be affordable in such energy-limited platforms, we propose an asymmetric architecture that reduces the overall inference costs via switching between a computationally expensive policy and an economic one. The experimental results evaluated on a number o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.14471","kind":"arxiv","version":1},"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/2105.14471/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":"2026-07-05T02:44:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1EzmiGQzCQLx9JgpOL8uluJ65PZM8ofYhw1IpM+RMAK5vww0PqB7+9+tURaqTrh6RYqk19WBzYi9u0k4VOSVAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T08:02:57.219449Z"},"content_sha256":"f6c6547654f7520b249278d85446fc05d13fe60a5a6f9d2de61cf5802cf812dc","schema_version":"1.0","event_id":"sha256:f6c6547654f7520b249278d85446fc05d13fe60a5a6f9d2de61cf5802cf812dc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VANSSWY2JPXXDASPWQLFNTVHOM/bundle.json","state_url":"https://pith.science/pith/VANSSWY2JPXXDASPWQLFNTVHOM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VANSSWY2JPXXDASPWQLFNTVHOM/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":"2026-07-05T08:02:57Z","links":{"resolver":"https://pith.science/pith/VANSSWY2JPXXDASPWQLFNTVHOM","bundle":"https://pith.science/pith/VANSSWY2JPXXDASPWQLFNTVHOM/bundle.json","state":"https://pith.science/pith/VANSSWY2JPXXDASPWQLFNTVHOM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VANSSWY2JPXXDASPWQLFNTVHOM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:VANSSWY2JPXXDASPWQLFNTVHOM","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":"dc5ddebbc9e21203c5c7074471749bf8c91bd27c0051217d0316acf41e55f6f9","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-05-30T09:14:39Z","title_canon_sha256":"1d85bc3004f6cad93044b933cb0b8f9f0a1515e6d654ba0d19fa5283d058cdbd"},"schema_version":"1.0","source":{"id":"2105.14471","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.14471","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"arxiv_version","alias_value":"2105.14471v1","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.14471","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_12","alias_value":"VANSSWY2JPXX","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_16","alias_value":"VANSSWY2JPXXDASP","created_at":"2026-07-05T02:44:24Z"},{"alias_kind":"pith_short_8","alias_value":"VANSSWY2","created_at":"2026-07-05T02:44:24Z"}],"graph_snapshots":[{"event_id":"sha256:f6c6547654f7520b249278d85446fc05d13fe60a5a6f9d2de61cf5802cf812dc","target":"graph","created_at":"2026-07-05T02:44:24Z","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/2105.14471/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deep reinforcement learning (DRL) has been demonstrated to provide promising results in several challenging decision making and control tasks. However, the required inference costs of deep neural networks (DNNs) could prevent DRL from being applied to mobile robots which cannot afford high energy-consuming computations. To enable DRL methods to be affordable in such energy-limited platforms, we propose an asymmetric architecture that reduces the overall inference costs via switching between a computationally expensive policy and an economic one. The experimental results evaluated on a number o","authors_text":"Chao-Hsien Ting, Chin-Jui Chang, Chun-Yi Lee, Hao-Kang Liu, Yu-Wei Chu, Zhang-Wei Hong","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-05-30T09:14:39Z","title":"Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents via an Asymmetric Architecture"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.14471","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:a672a01ac4d3cb06949e6d0bfb69405b11560f63690e86d9f689d0905a451a59","target":"record","created_at":"2026-07-05T02:44:24Z","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":"dc5ddebbc9e21203c5c7074471749bf8c91bd27c0051217d0316acf41e55f6f9","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-05-30T09:14:39Z","title_canon_sha256":"1d85bc3004f6cad93044b933cb0b8f9f0a1515e6d654ba0d19fa5283d058cdbd"},"schema_version":"1.0","source":{"id":"2105.14471","kind":"arxiv","version":1}},"canonical_sha256":"a81b295b1a4bef71824fb41656cea7730c807dd8687ac08d2e74eb1e334d87b3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a81b295b1a4bef71824fb41656cea7730c807dd8687ac08d2e74eb1e334d87b3","first_computed_at":"2026-07-05T02:44:24.295494Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:44:24.295494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"X1A4fqw/iNqeSBKzQN33oG95+j/k94w8b5fbvX3x9KR8Mv6r6rkmE4zruq12ORZ5p2sLGc9okdYiKkz4HIQiBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:44:24.295928Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.14471","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a672a01ac4d3cb06949e6d0bfb69405b11560f63690e86d9f689d0905a451a59","sha256:f6c6547654f7520b249278d85446fc05d13fe60a5a6f9d2de61cf5802cf812dc"],"state_sha256":"0a82e13e36baa257d0b786ea38d6dffd75c4d502f5e49237d61c41b1ae8b0a90"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zCtwM6e5iNOiU8Eyufy3/9YeaJbyCx4f7LDjMBefuHCP2CAYd1KtG9WavJvIkGLveYj9xTu/r1oWWyRyg/PiDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T08:02:57.221490Z","bundle_sha256":"d49d949282acedb7324c2bed3381b0d99793ba88f0674d2a87360b4382c48a7a"}}