{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_35d8a8e1d9641aa977ffd30cdbed808847e039a7a34506fe58d972fbe6ebd1bd","bitcoin_anchor":{"bitcoin_attestations":["bitcoin_block_949451"],"calendar_attestations":["https://finney.calendar.eternitywall.com","https://btc.calendar.catallaxy.com","https://alice.btc.calendar.opentimestamps.org","https://bob.btc.calendar.opentimestamps.org"],"ots_url":"/registry/data/substrate/anchors/77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3.ots","stamped_at":"2026-05-15T03:00:03Z","status":"bitcoin"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_35d8a8e1d9641aa977ffd30cdbed808847e039a7a34506fe58d972fbe6ebd1bd","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"1c7e1ae7b1d7e17b9b388713367b2ed74fabc1e33fa6428916e3915f812d87de","published":"Thu, 07 May 2026 00:00:00 -0400","receipt_hash":"1c7e1ae7b1d7e17b9b388713367b2ed74fabc1e33fa6428916e3915f812d87de","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"1c7e1ae7b1d7e17b9b388713367b2ed74fabc1e33fa6428916e3915f812d87de","observed_at":"2026-05-07T04:43:30.601849Z","parent_run_hash":"b20b3beeadde500bb99eda3b869d50b00c5259b2c78c650d83e786ac81b85801","published":"Thu, 07 May 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2605.03842v1 Announce Type: new \nAbstract: Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to strict real-time constraints and the strong coupling of multi-phase decisions. Existing methods either decompose the problem into isolated sub-tasks to guarantee responsiveness at the cost of global optimality, or rely on computationally expensive global optimization models that are unsuitable for dynamic industrial environments. To bridge this gap, we propose SOAR, a unified Deep Reinforcement Learning framework for real-time joint optimization. SOAR transforms order allocation and robot scheduling into a unified process by utilizing soft order allocations as observations. We formulate this as an Event-Driven Markov Decision Process, enabling the agent to perform simultaneous scheduling in response to as","title":"SOAR: Real-Time Joint Optimization of Order Allocation and Robot Scheduling in Robotic Mobile Fulfillment Systems","url":"https://arxiv.org/abs/2605.03842","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.03842v1 Announce Type: new \nAbstract: Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to strict real-time constraints and the strong coupling of multi-phase decisions. Existing methods either decompose the problem into isolated sub-tasks to guarantee responsiveness at the cost of global optimality, or rely on computationally expensive global optimization models that are unsuitable for dynamic industrial environments. To bridge this gap, we propose SOAR, a unified Deep Reinforcement Learning framework for real-time joint optimization. SOAR transforms order allocation and robot scheduling into a unified process by utilizing soft order allocations as observations. We formulate this as an Event-Driven Markov Decision Process, enabling the agent to perform simultaneous scheduling in response to as","title":"SOAR: Real-Time Joint Optimization of Order Allocation and Robot Scheduling in Robotic Mobile Fulfillment Systems","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-07T04:43:30Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.03842"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:21452a0fd42966c66c7d559d9f361cbec735db1397c107ec3c2d954c82ed71b3d9213c01ab7634be1a04c71ef086a2891dd0248f222093c0f8fb3b8656c05703","signer":"crovia.substrate","subject":{"observed_at":"2026-05-07T04:43:30Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.03842"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"a18709eaf565df6a4463d3893fde060390b0ff23733756a60a08bc666697c59f","leaf_index":118196,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"5e958b50751ebd95942c479dc37f85f68f51554d9b2346541dd072d8c5f6e375","side":"right"},{"sibling":"1b435df7335c1bb670f67c924999f3d7b9d4ae8a0f2b24ac6e36ba9821514d19","side":"right"},{"sibling":"450bfab65a8627a7917a08ef8a8f5742940fd4d4856f1fe3e908654637c7b3ac","side":"left"},{"sibling":"61f65111742a94f4c2fae3328e5b0db3ec726a3575fc8012fd953b1e417f7dd0","side":"right"},{"sibling":"3d3fba8fd15d4f381c668dba254fb9d4dda9fb5ba08ecfd29af897321056d085","side":"left"},{"sibling":"4612162d59edd3f991dabea8b7822140ede90991c9937357f938f29255c9ce55","side":"left"},{"sibling":"4aefceab5196e926996a3979b3a94f90233fbe9691395f8aa956637ca951fe4f","side":"right"},{"sibling":"c25c853cb3dd8c7f1b99fc80fd602c044932de34c1b34bd69ab1d5b8c94e42b1","side":"left"},{"sibling":"3d3124224341dac361f0e93f24f70795342ba216dc1c0065e7fa7592d943b488","side":"left"},{"sibling":"438bef084db8613e8143527769e3c677e12a59f8a6e2dea114f88afab0446a43","side":"right"},{"sibling":"8e758a4477dfc0838d2e8ea2bdbd583bc3192683e75fd9cde217ee6a3b2f3ac8","side":"left"},{"sibling":"4219f746e463e594ccd6447debdf736a57e77319b12bcb74d8ece2b5860064c6","side":"left"},{"sibling":"05f89b32c00462e60adf95c1fe4579cdc2791b36e8b17573d8f3b5fd5da95a0b","side":"right"},{"sibling":"8ccd9937a2c0d5c04044d07d1557791b7d07bb31eac41a39a675608d44b38f23","side":"right"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_35d8a8e1d9641aa977ffd30cdbed808847e039a7a34506fe58d972fbe6ebd1bd"}}