{
  "title": "ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients",
  "source": "User-provided ELMP.pdf",
  "version_as_printed": "arXiv:2607.00215v1, 30 Jun 2026",
  "pages": 9,
  "sha256": "44e96a33a7d57d92e88e2c6e777a5c7007084a24759044f0cd768bea632f12a3",
  "figure": {
    "source_page_1_based": 3,
    "number": 2,
    "asset": "assets/paper-method.png",
    "extraction": "pdftoppm, 144 dpi, x=95 y=90 width=1040 height=340 pixels; figure body only"
  },
  "evidence": {
    "method": "Sections III.A–D, equations 1–5, Algorithm 1",
    "simulation": "Tables I–III, Figures 4 and 6",
    "hardware": "Section IV.G and Table IV"
  },
  "limitations": [
    "No author training or hardware reproduction",
    "Primitive mathematical checks are independent teaching examples",
    "CPU-hours versus wall-clock parallelism is not specified sufficiently in the source"
  ]
}