{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:7HRRBD7VMHV6SW4TDHBDYOF7AQ","short_pith_number":"pith:7HRRBD7V","canonical_record":{"source":{"id":"2004.14288","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-29T16:14:30Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"af3e628c13bdc3baf1e4434f7a17d14bd55838e794b3b2f7ad9f9af8b31f3046","abstract_canon_sha256":"48d23826ccc7d85e37f10f9cb0661613f5901e2aa33e222cda88ed72e2edc808"},"schema_version":"1.0"},"canonical_sha256":"f9e3108ff561ebe95b9319c23c38bf040ff4fe27492d440abe74be07f4160810","source":{"kind":"arxiv","id":"2004.14288","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.14288","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"arxiv_version","alias_value":"2004.14288v3","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.14288","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_12","alias_value":"7HRRBD7VMHV6","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_16","alias_value":"7HRRBD7VMHV6SW4T","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_8","alias_value":"7HRRBD7V","created_at":"2026-07-05T01:19:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:7HRRBD7VMHV6SW4TDHBDYOF7AQ","target":"record","payload":{"canonical_record":{"source":{"id":"2004.14288","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-29T16:14:30Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"af3e628c13bdc3baf1e4434f7a17d14bd55838e794b3b2f7ad9f9af8b31f3046","abstract_canon_sha256":"48d23826ccc7d85e37f10f9cb0661613f5901e2aa33e222cda88ed72e2edc808"},"schema_version":"1.0"},"canonical_sha256":"f9e3108ff561ebe95b9319c23c38bf040ff4fe27492d440abe74be07f4160810","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:19:27.174671Z","signature_b64":"n1XK+k30Ae6EUzmQz3NEBNO1f3MIXDazhXrVnfBeLqmtctiD7WPcPNi5U/XFx8u2I/t+wgAMHrwaEt2oTXZaAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f9e3108ff561ebe95b9319c23c38bf040ff4fe27492d440abe74be07f4160810","last_reissued_at":"2026-07-05T01:19:27.174105Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:19:27.174105Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.14288","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":"2026-07-05T01:19:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r57YZSXopsXsFRpGSu7JElmtiiNc1hQh2EvwU6H3cBlYpfdQRi74GBwhQAhBYOu8jMLXV6VAKwb1TmJhckAvDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T21:47:09.439399Z"},"content_sha256":"c3438304e0db159b098b1dc1c980a88a44ec57fc8926f6483d587082569cb78f","schema_version":"1.0","event_id":"sha256:c3438304e0db159b098b1dc1c980a88a44ec57fc8926f6483d587082569cb78f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:7HRRBD7VMHV6SW4TDHBDYOF7AQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Actor-Critic Reinforcement Learning for Control with Stability Guarantee","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Jun Wang, Lixian Zhang, Minghao Han, Wei Pan","submitted_at":"2020-04-29T16:14:30Z","abstract_excerpt":"Reinforcement Learning (RL) and its integration with deep learning have achieved impressive performance in various robotic control tasks, ranging from motion planning and navigation to end-to-end visual manipulation. However, stability is not guaranteed in model-free RL by solely using data. From a control-theoretic perspective, stability is the most important property for any control system, since it is closely related to safety, robustness, and reliability of robotic systems. In this paper, we propose an actor-critic RL framework for control which can guarantee closed-loop stability by emplo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.14288","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/2004.14288/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":"2026-07-05T01:19:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AFo2s/4/kyELGO/cQa/FEVi7MBABfwLfOpWdFtUQBp1CW/Hl09Q2iG9EWgTExh33rzsfKIIuQa0so6VuNMfODw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T21:47:09.440234Z"},"content_sha256":"792f71e086e2931e802f2990fc93123b92936c8e2aebb9516fa1900239fa5264","schema_version":"1.0","event_id":"sha256:792f71e086e2931e802f2990fc93123b92936c8e2aebb9516fa1900239fa5264"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/bundle.json","state_url":"https://pith.science/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/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":"2026-08-20T21:47:09Z","links":{"resolver":"https://pith.science/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ","bundle":"https://pith.science/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/bundle.json","state":"https://pith.science/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7HRRBD7VMHV6SW4TDHBDYOF7AQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:7HRRBD7VMHV6SW4TDHBDYOF7AQ","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":"48d23826ccc7d85e37f10f9cb0661613f5901e2aa33e222cda88ed72e2edc808","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-29T16:14:30Z","title_canon_sha256":"af3e628c13bdc3baf1e4434f7a17d14bd55838e794b3b2f7ad9f9af8b31f3046"},"schema_version":"1.0","source":{"id":"2004.14288","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.14288","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"arxiv_version","alias_value":"2004.14288v3","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.14288","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_12","alias_value":"7HRRBD7VMHV6","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_16","alias_value":"7HRRBD7VMHV6SW4T","created_at":"2026-07-05T01:19:27Z"},{"alias_kind":"pith_short_8","alias_value":"7HRRBD7V","created_at":"2026-07-05T01:19:27Z"}],"graph_snapshots":[{"event_id":"sha256:792f71e086e2931e802f2990fc93123b92936c8e2aebb9516fa1900239fa5264","target":"graph","created_at":"2026-07-05T01:19:27Z","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/2004.14288/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reinforcement Learning (RL) and its integration with deep learning have achieved impressive performance in various robotic control tasks, ranging from motion planning and navigation to end-to-end visual manipulation. However, stability is not guaranteed in model-free RL by solely using data. From a control-theoretic perspective, stability is the most important property for any control system, since it is closely related to safety, robustness, and reliability of robotic systems. In this paper, we propose an actor-critic RL framework for control which can guarantee closed-loop stability by emplo","authors_text":"Jun Wang, Lixian Zhang, Minghao Han, Wei Pan","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-29T16:14:30Z","title":"Actor-Critic Reinforcement Learning for Control with Stability Guarantee"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.14288","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:c3438304e0db159b098b1dc1c980a88a44ec57fc8926f6483d587082569cb78f","target":"record","created_at":"2026-07-05T01:19:27Z","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":"48d23826ccc7d85e37f10f9cb0661613f5901e2aa33e222cda88ed72e2edc808","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-29T16:14:30Z","title_canon_sha256":"af3e628c13bdc3baf1e4434f7a17d14bd55838e794b3b2f7ad9f9af8b31f3046"},"schema_version":"1.0","source":{"id":"2004.14288","kind":"arxiv","version":3}},"canonical_sha256":"f9e3108ff561ebe95b9319c23c38bf040ff4fe27492d440abe74be07f4160810","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f9e3108ff561ebe95b9319c23c38bf040ff4fe27492d440abe74be07f4160810","first_computed_at":"2026-07-05T01:19:27.174105Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:19:27.174105Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"n1XK+k30Ae6EUzmQz3NEBNO1f3MIXDazhXrVnfBeLqmtctiD7WPcPNi5U/XFx8u2I/t+wgAMHrwaEt2oTXZaAg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:19:27.174671Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.14288","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c3438304e0db159b098b1dc1c980a88a44ec57fc8926f6483d587082569cb78f","sha256:792f71e086e2931e802f2990fc93123b92936c8e2aebb9516fa1900239fa5264"],"state_sha256":"a737b05c989453b92125895934aab4005141450aa1340635b7e28aa5cb05afc4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d3WNNFhPJfaFntse3AUuxdvoeXp+C+19LV5+WvHbYNbnBnGyp8QAqimqnVNbcYpFFu88adtriGOGzuCMJV74BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T21:47:09.448380Z","bundle_sha256":"09b25e7c14796ee066787a434e718e72a9d6e3a0e7dc801b09662a6443baf283"}}