{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:2WK4G6EEDN7Y5AUW3EN5W7NTAP","short_pith_number":"pith:2WK4G6EE","canonical_record":{"source":{"id":"1810.11545","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-10-26T22:23:27Z","cross_cats_sorted":["cs.HC","cs.RO"],"title_canon_sha256":"90854e74cc4d3763438d3adb450e9b0117496c459f2e60f5f6b9e03550fb4b9e","abstract_canon_sha256":"86aa6d128f48f9f6f5b667e739f5ad4d07dda8b6e094bff8ff0478daaf6d2886"},"schema_version":"1.0"},"canonical_sha256":"d595c378841b7f8e8296d91bdb7db303ccdc5e7ced00eb7077dbb2f2f819aa22","source":{"kind":"arxiv","id":"1810.11545","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.11545","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"arxiv_version","alias_value":"1810.11545v2","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.11545","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"pith_short_12","alias_value":"2WK4G6EEDN7Y","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"2WK4G6EEDN7Y5AUW","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"2WK4G6EE","created_at":"2026-05-18T12:32:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:2WK4G6EEDN7Y5AUW3EN5W7NTAP","target":"record","payload":{"canonical_record":{"source":{"id":"1810.11545","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-10-26T22:23:27Z","cross_cats_sorted":["cs.HC","cs.RO"],"title_canon_sha256":"90854e74cc4d3763438d3adb450e9b0117496c459f2e60f5f6b9e03550fb4b9e","abstract_canon_sha256":"86aa6d128f48f9f6f5b667e739f5ad4d07dda8b6e094bff8ff0478daaf6d2886"},"schema_version":"1.0"},"canonical_sha256":"d595c378841b7f8e8296d91bdb7db303ccdc5e7ced00eb7077dbb2f2f819aa22","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:59:38.051978Z","signature_b64":"aWdRfb+0qlvTZnArDxRK7WqXi0Z4l/6rp+igrvQQiVGzQ8eoufxNmLpevdHMdOn8vHWR1ciXq9HKUtW2L/vICQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d595c378841b7f8e8296d91bdb7db303ccdc5e7ced00eb7077dbb2f2f819aa22","last_reissued_at":"2026-05-17T23:59:38.051311Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:59:38.051311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1810.11545","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:59:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SXMYCB0aZ2fjcDdZeGu89FJKk2cqJDbNWS16Hoz1qYDsQn1fVbiGBv4DZhcbPoSGTqYNLGMfaSnCAZ0rMHcoDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T17:33:10.565803Z"},"content_sha256":"77c4e55a2056f9fdd9bd70e54afc13d2ef1f23077e33d6a2a987776adc84a644","schema_version":"1.0","event_id":"sha256:77c4e55a2056f9fdd9bd70e54afc13d2ef1f23077e33d6a2a987776adc84a644"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:2WK4G6EEDN7Y5AUW3EN5W7NTAP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficiently Combining Human Demonstrations and Interventions for Safe Training of Autonomous Systems in Real-Time","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC","cs.RO"],"primary_cat":"cs.AI","authors_text":"Gregory M. Gremillion, John Valasek, Nicholas R. Waytowich, Vernon J. Lawhern, Vinicius G. Goecks","submitted_at":"2018-10-26T22:23:27Z","abstract_excerpt":"This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning for Autonomous Systems, which is our framework for combining multiple modalities of human interaction. The current effort employs human demonstrations to teach a desired behavior via imitation learning, then leverages intervention data to correct for undesired behaviors produced by the imitation learner to teach novel tasks to an autonomous agent safely, afte"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.11545","kind":"arxiv","version":2},"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":"2026-05-17T23:59:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MtNbV92hyo9Ul1Hf105pNEQa3L73DVH8ry4zZBgfAR/fZ1NHyjuO9qaxkVbbPqdIxcKDe6+Quhke9urtb4soCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T17:33:10.566537Z"},"content_sha256":"91f72798588d220205d6f74ab680c6b9e31f23ed42dd49dd3c4d88310aeb9744","schema_version":"1.0","event_id":"sha256:91f72798588d220205d6f74ab680c6b9e31f23ed42dd49dd3c4d88310aeb9744"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/bundle.json","state_url":"https://pith.science/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/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":"2026-06-07T17:33:10Z","links":{"resolver":"https://pith.science/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP","bundle":"https://pith.science/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/bundle.json","state":"https://pith.science/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2WK4G6EEDN7Y5AUW3EN5W7NTAP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:2WK4G6EEDN7Y5AUW3EN5W7NTAP","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":"86aa6d128f48f9f6f5b667e739f5ad4d07dda8b6e094bff8ff0478daaf6d2886","cross_cats_sorted":["cs.HC","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-10-26T22:23:27Z","title_canon_sha256":"90854e74cc4d3763438d3adb450e9b0117496c459f2e60f5f6b9e03550fb4b9e"},"schema_version":"1.0","source":{"id":"1810.11545","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.11545","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"arxiv_version","alias_value":"1810.11545v2","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.11545","created_at":"2026-05-17T23:59:38Z"},{"alias_kind":"pith_short_12","alias_value":"2WK4G6EEDN7Y","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"2WK4G6EEDN7Y5AUW","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"2WK4G6EE","created_at":"2026-05-18T12:32:02Z"}],"graph_snapshots":[{"event_id":"sha256:91f72798588d220205d6f74ab680c6b9e31f23ed42dd49dd3c4d88310aeb9744","target":"graph","created_at":"2026-05-17T23:59:38Z","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":"This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning for Autonomous Systems, which is our framework for combining multiple modalities of human interaction. The current effort employs human demonstrations to teach a desired behavior via imitation learning, then leverages intervention data to correct for undesired behaviors produced by the imitation learner to teach novel tasks to an autonomous agent safely, afte","authors_text":"Gregory M. Gremillion, John Valasek, Nicholas R. Waytowich, Vernon J. Lawhern, Vinicius G. Goecks","cross_cats":["cs.HC","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-10-26T22:23:27Z","title":"Efficiently Combining Human Demonstrations and Interventions for Safe Training of Autonomous Systems in Real-Time"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.11545","kind":"arxiv","version":2},"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":"sha256:77c4e55a2056f9fdd9bd70e54afc13d2ef1f23077e33d6a2a987776adc84a644","target":"record","created_at":"2026-05-17T23:59:38Z","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":"86aa6d128f48f9f6f5b667e739f5ad4d07dda8b6e094bff8ff0478daaf6d2886","cross_cats_sorted":["cs.HC","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-10-26T22:23:27Z","title_canon_sha256":"90854e74cc4d3763438d3adb450e9b0117496c459f2e60f5f6b9e03550fb4b9e"},"schema_version":"1.0","source":{"id":"1810.11545","kind":"arxiv","version":2}},"canonical_sha256":"d595c378841b7f8e8296d91bdb7db303ccdc5e7ced00eb7077dbb2f2f819aa22","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d595c378841b7f8e8296d91bdb7db303ccdc5e7ced00eb7077dbb2f2f819aa22","first_computed_at":"2026-05-17T23:59:38.051311Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:59:38.051311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aWdRfb+0qlvTZnArDxRK7WqXi0Z4l/6rp+igrvQQiVGzQ8eoufxNmLpevdHMdOn8vHWR1ciXq9HKUtW2L/vICQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:59:38.051978Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.11545","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:77c4e55a2056f9fdd9bd70e54afc13d2ef1f23077e33d6a2a987776adc84a644","sha256:91f72798588d220205d6f74ab680c6b9e31f23ed42dd49dd3c4d88310aeb9744"],"state_sha256":"6d4640dc7a99b2cffdf7b6d5491c3ca38b00e7ef51ecaad1c1d4864dc31ebefa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ePu8B+2cb2OlOR2ApiHcmkmk/ryQNLkHWeJ0Zxp1CtFKLaiLrC7vfmwfw3pvN9CHrboXFj/Zajl6o18Arxt2Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T17:33:10.572939Z","bundle_sha256":"ae110e045b8e443e8ae8a77be0c0799b98a49d74712baa951c320f01e3ab0f67"}}