{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:3XQRQKTN5BSTZ6NEU2AK3LTRL3","short_pith_number":"pith:3XQRQKTN","canonical_record":{"source":{"id":"2004.00662","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-01T18:36:50Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"28b2f20b371d5cdc4f3dbcda09528a7929a365d8104776ff27ee015dec73a133","abstract_canon_sha256":"8cf4894b0c95d739f42f2c119774c06ebc06cd4fd6f00f1fc3629fbb42629f45"},"schema_version":"1.0"},"canonical_sha256":"dde1182a6de8653cf9a4a680adae715eda66c00736cffece122686e0981b9fb3","source":{"kind":"arxiv","id":"2004.00662","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.00662","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"arxiv_version","alias_value":"2004.00662v1","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.00662","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_12","alias_value":"3XQRQKTN5BST","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_16","alias_value":"3XQRQKTN5BSTZ6NE","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_8","alias_value":"3XQRQKTN","created_at":"2026-07-05T00:52:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:3XQRQKTN5BSTZ6NEU2AK3LTRL3","target":"record","payload":{"canonical_record":{"source":{"id":"2004.00662","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-01T18:36:50Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"28b2f20b371d5cdc4f3dbcda09528a7929a365d8104776ff27ee015dec73a133","abstract_canon_sha256":"8cf4894b0c95d739f42f2c119774c06ebc06cd4fd6f00f1fc3629fbb42629f45"},"schema_version":"1.0"},"canonical_sha256":"dde1182a6de8653cf9a4a680adae715eda66c00736cffece122686e0981b9fb3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:52:19.320960Z","signature_b64":"s/pPVurHPr4ipdgXQwxW5rzt7dhpFzhR5gGaIZzUDlLaZnt9LwyiqGldY9lcHLaEo7NfT/prgbAH53yvyQJWCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dde1182a6de8653cf9a4a680adae715eda66c00736cffece122686e0981b9fb3","last_reissued_at":"2026-07-05T00:52:19.320608Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:52:19.320608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.00662","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":"2026-07-05T00:52:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HglbHzKHVWjR+cse/Y4qIAT50Ds7VnI6+Ln9a2geAcgJr5QyV7UvDOFt1q/k519P4WyVbKfUZSuayhSOhe52CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:14:56.339802Z"},"content_sha256":"7711940a6942d856e28d5f24cde6c349ee68021f0c1065e61ce4c863ab2ded8b","schema_version":"1.0","event_id":"sha256:7711940a6942d856e28d5f24cde6c349ee68021f0c1065e61ce4c863ab2ded8b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:3XQRQKTN5BSTZ6NEU2AK3LTRL3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Alex Devonport, He Yin, Murat Arcak","submitted_at":"2020-04-01T18:36:50Z","abstract_excerpt":"We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method maintains safety by ensuring that the system state stays within the region of attraction (ROA) of a stabilizing control policy while collecting data. A quadratic programming based exploration control policy is computed to keep the exploration trajectory inside an inner-approximation of the ROA and to maximize the information gained from the trajectory. A prior GP model, which incorporates prior information about the"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.00662","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2004.00662/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":"2026-07-05T00:52:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F+fhaTVmFAq+aveEc6Yo7io1MJIfE4ymHctaJtIgvmbwwD9rysyYi3MDZOKg/imqvAe1GHZZCeusOvN7H5q5BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:14:56.340796Z"},"content_sha256":"6e01896ba13ebf8284f968ad84bad84a844321da48bfe7b806140c16738403c7","schema_version":"1.0","event_id":"sha256:6e01896ba13ebf8284f968ad84bad84a844321da48bfe7b806140c16738403c7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/bundle.json","state_url":"https://pith.science/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/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":"2026-08-11T02:14:56Z","links":{"resolver":"https://pith.science/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3","bundle":"https://pith.science/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/bundle.json","state":"https://pith.science/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3XQRQKTN5BSTZ6NEU2AK3LTRL3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:3XQRQKTN5BSTZ6NEU2AK3LTRL3","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":"8cf4894b0c95d739f42f2c119774c06ebc06cd4fd6f00f1fc3629fbb42629f45","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-01T18:36:50Z","title_canon_sha256":"28b2f20b371d5cdc4f3dbcda09528a7929a365d8104776ff27ee015dec73a133"},"schema_version":"1.0","source":{"id":"2004.00662","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.00662","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"arxiv_version","alias_value":"2004.00662v1","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.00662","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_12","alias_value":"3XQRQKTN5BST","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_16","alias_value":"3XQRQKTN5BSTZ6NE","created_at":"2026-07-05T00:52:19Z"},{"alias_kind":"pith_short_8","alias_value":"3XQRQKTN","created_at":"2026-07-05T00:52:19Z"}],"graph_snapshots":[{"event_id":"sha256:6e01896ba13ebf8284f968ad84bad84a844321da48bfe7b806140c16738403c7","target":"graph","created_at":"2026-07-05T00:52:19Z","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/2004.00662/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method maintains safety by ensuring that the system state stays within the region of attraction (ROA) of a stabilizing control policy while collecting data. A quadratic programming based exploration control policy is computed to keep the exploration trajectory inside an inner-approximation of the ROA and to maximize the information gained from the trajectory. A prior GP model, which incorporates prior information about the","authors_text":"Alex Devonport, He Yin, Murat Arcak","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-01T18:36:50Z","title":"Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.00662","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":"sha256:7711940a6942d856e28d5f24cde6c349ee68021f0c1065e61ce4c863ab2ded8b","target":"record","created_at":"2026-07-05T00:52:19Z","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":"8cf4894b0c95d739f42f2c119774c06ebc06cd4fd6f00f1fc3629fbb42629f45","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-01T18:36:50Z","title_canon_sha256":"28b2f20b371d5cdc4f3dbcda09528a7929a365d8104776ff27ee015dec73a133"},"schema_version":"1.0","source":{"id":"2004.00662","kind":"arxiv","version":1}},"canonical_sha256":"dde1182a6de8653cf9a4a680adae715eda66c00736cffece122686e0981b9fb3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dde1182a6de8653cf9a4a680adae715eda66c00736cffece122686e0981b9fb3","first_computed_at":"2026-07-05T00:52:19.320608Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:52:19.320608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s/pPVurHPr4ipdgXQwxW5rzt7dhpFzhR5gGaIZzUDlLaZnt9LwyiqGldY9lcHLaEo7NfT/prgbAH53yvyQJWCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:52:19.320960Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.00662","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7711940a6942d856e28d5f24cde6c349ee68021f0c1065e61ce4c863ab2ded8b","sha256:6e01896ba13ebf8284f968ad84bad84a844321da48bfe7b806140c16738403c7"],"state_sha256":"4542f76ceac18350c5812be353ca6cc9b9e457020af7cbfe813c825030053474"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EJ3jhaTe4QbowJDeXsKBFKkvOnu675m21qFnw3dmSYFQBV5O6bJtb5R/GURRHYuK/P3eJ+RYoevUevFtdWdjDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T02:14:56.346841Z","bundle_sha256":"d607e35e059aa06098cabba6bb8aa4e39c4449e594f248d408e96e7d1f63b085"}}