Pith Number

pith:2WLGZDER

pith:2022:2WLGZDERKDCXBX37UK3PBXMZ5D

not attested not anchored not stored refs pending

Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning

Ayush Agrawal, Fernando Castaneda, Koushil Sreenath, Shankar Sastry, Tyler Westenbroek

arxiv:2208.06721 v2 · 2022-08-13 · cs.RO · cs.SY · eess.SY

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\usepackage{pith}
\pithnumber{2WLGZDERKDCXBX37UK3PBXMZ5D}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

6 papers in Pith

OHP-RL: Online Human Preference as Guidance in Reinforcement Learning for Robot Manipulation

Zero-shot Transfer of Reinforcement Learning Control Policies for the Swing-Up and Stabilization of a Cart-Pole System

MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins

OHP-RL: Online Human Preference as Guidance in Reinforcement Learning for Robot Manipulation

A Review On Safe Reinforcement Learning Using Lyapunov and Barrier Functions

Receipt and verification

First computed	2026-07-05T05:17:12.013853Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d5966c8c9150c570df7fa2b6f0dd99e8fc692107ecb9b17786cf80daf85c39ba

Aliases

arxiv: 2208.06721 · arxiv_version: 2208.06721v2 · doi: 10.48550/arxiv.2208.06721 · pith_short_12: 2WLGZDERKDCX · pith_short_16: 2WLGZDERKDCXBX37 · pith_short_8: 2WLGZDER

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/2WLGZDERKDCXBX37UK3PBXMZ5D \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d5966c8c9150c570df7fa2b6f0dd99e8fc692107ecb9b17786cf80daf85c39ba

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3c6df4f78c24f2e8849007f2b83084ef4c1a46459021fba667221dd8b6b71a87",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-08-13T20:04:17Z",
    "title_canon_sha256": "10c51f00540dc6222969466252c6ecf48520ab1f7a19ef787a054892cc8b2bdd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2208.06721",
    "kind": "arxiv",
    "version": 2
  }
}