{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:2Q52AZQGDEANGK3B237RDQFVL3","short_pith_number":"pith:2Q52AZQG","canonical_record":{"source":{"id":"1208.0864","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2012-08-03T22:56:36Z","cross_cats_sorted":["cs.LG","cs.SY"],"title_canon_sha256":"bff7da4a05564cf45386799dde1c0fe99f094cc64ca14dc87ccb94076e6d2ad8","abstract_canon_sha256":"f1afcc07d9f56815185f766f43ec12f960948b19d2631e51d0f046a3a71bd3f0"},"schema_version":"1.0"},"canonical_sha256":"d43ba066061900d32b61d6ff11c0b55eced6e0ec169191eed3297da55c217f8e","source":{"kind":"arxiv","id":"1208.0864","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.0864","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"arxiv_version","alias_value":"1208.0864v1","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.0864","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"pith_short_12","alias_value":"2Q52AZQGDEAN","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_16","alias_value":"2Q52AZQGDEANGK3B","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_8","alias_value":"2Q52AZQG","created_at":"2026-05-18T12:26:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:2Q52AZQGDEANGK3B237RDQFVL3","target":"record","payload":{"canonical_record":{"source":{"id":"1208.0864","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2012-08-03T22:56:36Z","cross_cats_sorted":["cs.LG","cs.SY"],"title_canon_sha256":"bff7da4a05564cf45386799dde1c0fe99f094cc64ca14dc87ccb94076e6d2ad8","abstract_canon_sha256":"f1afcc07d9f56815185f766f43ec12f960948b19d2631e51d0f046a3a71bd3f0"},"schema_version":"1.0"},"canonical_sha256":"d43ba066061900d32b61d6ff11c0b55eced6e0ec169191eed3297da55c217f8e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:49:21.303446Z","signature_b64":"bplUOzXsVP/hIboIZjwYq9K0sd5W75n7+Vsztn2Abw7V8WNOG9Z46kRRbgY5CKz6gfIK5Hx4iyHpv/BeBahoCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d43ba066061900d32b61d6ff11c0b55eced6e0ec169191eed3297da55c217f8e","last_reissued_at":"2026-05-18T03:49:21.302748Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:49:21.302748Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1208.0864","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":"2026-05-18T03:49:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+/I4rKq3iHbgf0swnkR2apeDPFsuQiCOC3SD/lCnc8ZRxBZ8etdnO9ImLg/7LZckPYRhlNxQ47Y/tnmP6IcbAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T05:45:50.157630Z"},"content_sha256":"d2aed7fc5f2a30e11f1cb317a487ed39715d83f1b0901ba88e8bd55638c5346c","schema_version":"1.0","event_id":"sha256:d2aed7fc5f2a30e11f1cb317a487ed39715d83f1b0901ba88e8bd55638c5346c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:2Q52AZQGDEANGK3B237RDQFVL3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Statistical Results on Filtering and Epi-convergence for Learning-Based Model Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY"],"primary_cat":"math.OC","authors_text":"Anil Aswani, Claire Tomlin, Humberto Gonzalez, S. Shankar Sastry","submitted_at":"2012-08-03T22:56:36Z","abstract_excerpt":"Learning-based model predictive control (LBMPC) is a technique that provides deterministic guarantees on robustness, while statistical identification tools are used to identify richer models of the system in order to improve performance. This technical note provides proofs that elucidate the reasons for our choice of measurement model, as well as giving proofs concerning the stochastic convergence of LBMPC. The first part of this note discusses simultaneous state estimation and statistical identification (or learning) of unmodeled dynamics, for dynamical systems that can be described by ordina"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.0864","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":""},"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":"2026-05-18T03:49:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vzhc8aBhS2OvM7n1WKqTcmAOCSV7dPTYp1G2Rts48d2Rnm/nHPu9yZbS73uedoo1bGL2XuzQ2G5wnViWtIO+Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-09T05:45:50.158356Z"},"content_sha256":"4d9c0b5d3dd2b84d7f36e1512ae925bd2be83a5fa840f2ab93d4c45c0efd5b91","schema_version":"1.0","event_id":"sha256:4d9c0b5d3dd2b84d7f36e1512ae925bd2be83a5fa840f2ab93d4c45c0efd5b91"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2Q52AZQGDEANGK3B237RDQFVL3/bundle.json","state_url":"https://pith.science/pith/2Q52AZQGDEANGK3B237RDQFVL3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2Q52AZQGDEANGK3B237RDQFVL3/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":"2026-06-09T05:45:50Z","links":{"resolver":"https://pith.science/pith/2Q52AZQGDEANGK3B237RDQFVL3","bundle":"https://pith.science/pith/2Q52AZQGDEANGK3B237RDQFVL3/bundle.json","state":"https://pith.science/pith/2Q52AZQGDEANGK3B237RDQFVL3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2Q52AZQGDEANGK3B237RDQFVL3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:2Q52AZQGDEANGK3B237RDQFVL3","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":"f1afcc07d9f56815185f766f43ec12f960948b19d2631e51d0f046a3a71bd3f0","cross_cats_sorted":["cs.LG","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2012-08-03T22:56:36Z","title_canon_sha256":"bff7da4a05564cf45386799dde1c0fe99f094cc64ca14dc87ccb94076e6d2ad8"},"schema_version":"1.0","source":{"id":"1208.0864","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.0864","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"arxiv_version","alias_value":"1208.0864v1","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.0864","created_at":"2026-05-18T03:49:21Z"},{"alias_kind":"pith_short_12","alias_value":"2Q52AZQGDEAN","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_16","alias_value":"2Q52AZQGDEANGK3B","created_at":"2026-05-18T12:26:50Z"},{"alias_kind":"pith_short_8","alias_value":"2Q52AZQG","created_at":"2026-05-18T12:26:50Z"}],"graph_snapshots":[{"event_id":"sha256:4d9c0b5d3dd2b84d7f36e1512ae925bd2be83a5fa840f2ab93d4c45c0efd5b91","target":"graph","created_at":"2026-05-18T03:49:21Z","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"},"paper":{"abstract_excerpt":"Learning-based model predictive control (LBMPC) is a technique that provides deterministic guarantees on robustness, while statistical identification tools are used to identify richer models of the system in order to improve performance. This technical note provides proofs that elucidate the reasons for our choice of measurement model, as well as giving proofs concerning the stochastic convergence of LBMPC. The first part of this note discusses simultaneous state estimation and statistical identification (or learning) of unmodeled dynamics, for dynamical systems that can be described by ordina","authors_text":"Anil Aswani, Claire Tomlin, Humberto Gonzalez, S. Shankar Sastry","cross_cats":["cs.LG","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2012-08-03T22:56:36Z","title":"Statistical Results on Filtering and Epi-convergence for Learning-Based Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.0864","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:d2aed7fc5f2a30e11f1cb317a487ed39715d83f1b0901ba88e8bd55638c5346c","target":"record","created_at":"2026-05-18T03:49:21Z","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":"f1afcc07d9f56815185f766f43ec12f960948b19d2631e51d0f046a3a71bd3f0","cross_cats_sorted":["cs.LG","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2012-08-03T22:56:36Z","title_canon_sha256":"bff7da4a05564cf45386799dde1c0fe99f094cc64ca14dc87ccb94076e6d2ad8"},"schema_version":"1.0","source":{"id":"1208.0864","kind":"arxiv","version":1}},"canonical_sha256":"d43ba066061900d32b61d6ff11c0b55eced6e0ec169191eed3297da55c217f8e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d43ba066061900d32b61d6ff11c0b55eced6e0ec169191eed3297da55c217f8e","first_computed_at":"2026-05-18T03:49:21.302748Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:49:21.302748Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bplUOzXsVP/hIboIZjwYq9K0sd5W75n7+Vsztn2Abw7V8WNOG9Z46kRRbgY5CKz6gfIK5Hx4iyHpv/BeBahoCA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:49:21.303446Z","signed_message":"canonical_sha256_bytes"},"source_id":"1208.0864","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d2aed7fc5f2a30e11f1cb317a487ed39715d83f1b0901ba88e8bd55638c5346c","sha256:4d9c0b5d3dd2b84d7f36e1512ae925bd2be83a5fa840f2ab93d4c45c0efd5b91"],"state_sha256":"6b6ce2aa487fcf9b2ccfaf663bcd93b2cb09435df0e72d66c616bcd00193fbfa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bdh3/8FT/rmYbHc2zvQEdU2tUcKDZXRHZLXOg02dJepv9CzROcZ1b5c/lq8LeBfxB5jPjPfncudOkYTNt29ADw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-09T05:45:50.162888Z","bundle_sha256":"025a0a69f38feb38253c6e4d28509604ae4e5eea01b845408395152d4a934d5a"}}