{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:3AJ7EAUEQGEHE36R4WNVBTDWDD","short_pith_number":"pith:3AJ7EAUE","canonical_record":{"source":{"id":"2208.10733","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-08-23T05:02:09Z","cross_cats_sorted":["cs.LG","cs.SY","math.OC"],"title_canon_sha256":"35e970159b610c4e89e7308ff344c3ca991db284535a0566978306643eb0ecec","abstract_canon_sha256":"6f2286edb74c39dbde9778731a2fb7a81de86ad64cb6384bb81941685f65f9c0"},"schema_version":"1.0"},"canonical_sha256":"d813f202848188726fd1e59b50cc7618ee15078e1f012e1568d27d8f2212bba1","source":{"kind":"arxiv","id":"2208.10733","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.10733","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"arxiv_version","alias_value":"2208.10733v3","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.10733","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_12","alias_value":"3AJ7EAUEQGEH","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_16","alias_value":"3AJ7EAUEQGEHE36R","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_8","alias_value":"3AJ7EAUE","created_at":"2026-07-05T09:02:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:3AJ7EAUEQGEHE36R4WNVBTDWDD","target":"record","payload":{"canonical_record":{"source":{"id":"2208.10733","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-08-23T05:02:09Z","cross_cats_sorted":["cs.LG","cs.SY","math.OC"],"title_canon_sha256":"35e970159b610c4e89e7308ff344c3ca991db284535a0566978306643eb0ecec","abstract_canon_sha256":"6f2286edb74c39dbde9778731a2fb7a81de86ad64cb6384bb81941685f65f9c0"},"schema_version":"1.0"},"canonical_sha256":"d813f202848188726fd1e59b50cc7618ee15078e1f012e1568d27d8f2212bba1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:02:39.082934Z","signature_b64":"C3ISTOdvCLNwWZr/mtjsyBZDvsCE6d1aIVBtKSYhXYns8IVBd4vdLON+Y2m3QyOff2nbWsz9Xmse+CJLOTHiCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d813f202848188726fd1e59b50cc7618ee15078e1f012e1568d27d8f2212bba1","last_reissued_at":"2026-07-05T09:02:39.082389Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:02:39.082389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2208.10733","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:02:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o0C+xJt2sHHW3hxSXglS2ZhQNGPJuNMO6po0HDu6sV8hEYXK86i2lnnZ4ftBCEMPa+iAwNBB16JOnGKGf6KUDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T14:55:57.463418Z"},"content_sha256":"2d8f2b37b41e6a299ff488b2c0a11ed431fd8044cce25068260f4c47933bc348","schema_version":"1.0","event_id":"sha256:2d8f2b37b41e6a299ff488b2c0a11ed431fd8044cce25068260f4c47933bc348"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:3AJ7EAUEQGEHE36R4WNVBTDWDD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Bike Zhang, Claire J. Tomlin, Fernando Casta\\~neda, Jason J. Choi, Koushil Sreenath, Wonsuhk Jung","submitted_at":"2022-08-23T05:02:09Z","abstract_excerpt":"Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier Functions (CBFs) offer mathematical tools for designing safety-preserving controllers for systems with known dynamics. In this article, we first introduce a model-uncertainty-aware reformulation of CBF-based safety-critical controllers using Gaussian Process (GP) regression to close the gap between an approximate mathematical model and the real system, which results"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.10733","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2208.10733/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T09:02:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YAgaU03YlT7R4WYeAH/Z9oK9pp45BbJHiLRpXm1IvR6CCEdW2QlNitkDyQn/zLwfKkyuTMegi2h7LsHdEiRjDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T14:55:57.464389Z"},"content_sha256":"664562ad586625243c15dfe5b88f577cc0c9a534d03e478c31036eb8a1062ec5","schema_version":"1.0","event_id":"sha256:664562ad586625243c15dfe5b88f577cc0c9a534d03e478c31036eb8a1062ec5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/bundle.json","state_url":"https://pith.science/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/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":"2026-08-22T14:55:57Z","links":{"resolver":"https://pith.science/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD","bundle":"https://pith.science/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/bundle.json","state":"https://pith.science/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3AJ7EAUEQGEHE36R4WNVBTDWDD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:3AJ7EAUEQGEHE36R4WNVBTDWDD","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":"6f2286edb74c39dbde9778731a2fb7a81de86ad64cb6384bb81941685f65f9c0","cross_cats_sorted":["cs.LG","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-08-23T05:02:09Z","title_canon_sha256":"35e970159b610c4e89e7308ff344c3ca991db284535a0566978306643eb0ecec"},"schema_version":"1.0","source":{"id":"2208.10733","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.10733","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"arxiv_version","alias_value":"2208.10733v3","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.10733","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_12","alias_value":"3AJ7EAUEQGEH","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_16","alias_value":"3AJ7EAUEQGEHE36R","created_at":"2026-07-05T09:02:39Z"},{"alias_kind":"pith_short_8","alias_value":"3AJ7EAUE","created_at":"2026-07-05T09:02:39Z"}],"graph_snapshots":[{"event_id":"sha256:664562ad586625243c15dfe5b88f577cc0c9a534d03e478c31036eb8a1062ec5","target":"graph","created_at":"2026-07-05T09:02:39Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2208.10733/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier Functions (CBFs) offer mathematical tools for designing safety-preserving controllers for systems with known dynamics. In this article, we first introduce a model-uncertainty-aware reformulation of CBF-based safety-critical controllers using Gaussian Process (GP) regression to close the gap between an approximate mathematical model and the real system, which results","authors_text":"Bike Zhang, Claire J. Tomlin, Fernando Casta\\~neda, Jason J. Choi, Koushil Sreenath, Wonsuhk Jung","cross_cats":["cs.LG","cs.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-08-23T05:02:09Z","title":"Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.10733","kind":"arxiv","version":3},"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":"sha256:2d8f2b37b41e6a299ff488b2c0a11ed431fd8044cce25068260f4c47933bc348","target":"record","created_at":"2026-07-05T09:02:39Z","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":"6f2286edb74c39dbde9778731a2fb7a81de86ad64cb6384bb81941685f65f9c0","cross_cats_sorted":["cs.LG","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-08-23T05:02:09Z","title_canon_sha256":"35e970159b610c4e89e7308ff344c3ca991db284535a0566978306643eb0ecec"},"schema_version":"1.0","source":{"id":"2208.10733","kind":"arxiv","version":3}},"canonical_sha256":"d813f202848188726fd1e59b50cc7618ee15078e1f012e1568d27d8f2212bba1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d813f202848188726fd1e59b50cc7618ee15078e1f012e1568d27d8f2212bba1","first_computed_at":"2026-07-05T09:02:39.082389Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:02:39.082389Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"C3ISTOdvCLNwWZr/mtjsyBZDvsCE6d1aIVBtKSYhXYns8IVBd4vdLON+Y2m3QyOff2nbWsz9Xmse+CJLOTHiCg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:02:39.082934Z","signed_message":"canonical_sha256_bytes"},"source_id":"2208.10733","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d8f2b37b41e6a299ff488b2c0a11ed431fd8044cce25068260f4c47933bc348","sha256:664562ad586625243c15dfe5b88f577cc0c9a534d03e478c31036eb8a1062ec5"],"state_sha256":"baac9bddde94ec50846cb1d1e82e5102f40bb91dabcdfe252d1df977b85eb1cf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KfJztQXYl+0UDAiiXtDZjpzmLXcIxyT31ZwUeo1q+BLoYVa4j9zKVfI1v+cxiPPZDWnDlTxgoog0EQ9hrJh+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T14:55:57.469860Z","bundle_sha256":"a9c9143a5e8ebecd51eb78b5188b5d807c274b4d012ec65d7a6f82aac56f1cee"}}