{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:AOPP26MVJFPIGMAAGJ7NFLYBS6","short_pith_number":"pith:AOPP26MV","canonical_record":{"source":{"id":"2104.00241","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-01T04:00:49Z","cross_cats_sorted":[],"title_canon_sha256":"b3f193bf6566199d5c02fb53269b869830ec22d64a0047c38ad79a62ab7f9118","abstract_canon_sha256":"c41d15248e033212c364606e7df9deed2d8372900cbe36ac7c3ffdd01fbfd06e"},"schema_version":"1.0"},"canonical_sha256":"039efd7995495e833000327ed2af0197ac58c83451a6c2f498fceb62796f14c1","source":{"kind":"arxiv","id":"2104.00241","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.00241","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"arxiv_version","alias_value":"2104.00241v1","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.00241","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_12","alias_value":"AOPP26MVJFPI","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_16","alias_value":"AOPP26MVJFPIGMAA","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_8","alias_value":"AOPP26MV","created_at":"2026-07-05T02:28:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:AOPP26MVJFPIGMAAGJ7NFLYBS6","target":"record","payload":{"canonical_record":{"source":{"id":"2104.00241","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-01T04:00:49Z","cross_cats_sorted":[],"title_canon_sha256":"b3f193bf6566199d5c02fb53269b869830ec22d64a0047c38ad79a62ab7f9118","abstract_canon_sha256":"c41d15248e033212c364606e7df9deed2d8372900cbe36ac7c3ffdd01fbfd06e"},"schema_version":"1.0"},"canonical_sha256":"039efd7995495e833000327ed2af0197ac58c83451a6c2f498fceb62796f14c1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:28:25.543121Z","signature_b64":"qhbT7N76N03560MrGmbU/33A3jozf/Aef+FnQIXDEwdmqqbPL/ARZthrT/I6Pc+3hevy98WYts3sOfvHcZC8AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"039efd7995495e833000327ed2af0197ac58c83451a6c2f498fceb62796f14c1","last_reissued_at":"2026-07-05T02:28:25.542611Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:28:25.542611Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.00241","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":"2026-07-05T02:28:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R4ow6xOMCu4HQB4iRQmyBu6g3IW62hWFOAScj+iX1qXIpm46N6rs0MtTaErfeqZ0kRxSfb9YE2jAgLwITfdbBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:23:45.674645Z"},"content_sha256":"e272c3a4de0eca079026bc5539d81351a29b0e29d567b5e25c9ba4c4abfbaabe","schema_version":"1.0","event_id":"sha256:e272c3a4de0eca079026bc5539d81351a29b0e29d567b5e25c9ba4c4abfbaabe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:AOPP26MVJFPIGMAAGJ7NFLYBS6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Variational Inference MPC using Tsallis Divergence","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.LG","authors_text":"Bogdan Vlahov, Evangelos A. Theodorou, Guan-Horng Liu, Jason Gibson, Manan S. Gandhi, Oswin So, Ziyi Wang","submitted_at":"2021-04-01T04:00:49Z","abstract_excerpt":"In this paper, we provide a generalized framework for Variational Inference-Stochastic Optimal Control by using thenon-extensive Tsallis divergence. By incorporating the deformed exponential function into the optimality likelihood function, a novel Tsallis Variational Inference-Model Predictive Control algorithm is derived, which includes prior works such as Variational Inference-Model Predictive Control, Model Predictive PathIntegral Control, Cross Entropy Method, and Stein VariationalInference Model Predictive Control as special cases. The proposed algorithm allows for effective control of t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.00241","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/2104.00241/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":"2026-07-05T02:28:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2AXji9J/ALtvRUaom00swOaRf1fH64+jU5WhnC5G9TbNPSCE5BA+YnAvhXSKVE1NB/FyREDAcpcFekXdJ9B5Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T20:23:45.675022Z"},"content_sha256":"383ad9604d09b654543d2c1b70720e45b400b7866140de36f98df39b25e6dbdf","schema_version":"1.0","event_id":"sha256:383ad9604d09b654543d2c1b70720e45b400b7866140de36f98df39b25e6dbdf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/bundle.json","state_url":"https://pith.science/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/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":"2026-07-06T20:23:45Z","links":{"resolver":"https://pith.science/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6","bundle":"https://pith.science/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/bundle.json","state":"https://pith.science/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AOPP26MVJFPIGMAAGJ7NFLYBS6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:AOPP26MVJFPIGMAAGJ7NFLYBS6","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":"c41d15248e033212c364606e7df9deed2d8372900cbe36ac7c3ffdd01fbfd06e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-01T04:00:49Z","title_canon_sha256":"b3f193bf6566199d5c02fb53269b869830ec22d64a0047c38ad79a62ab7f9118"},"schema_version":"1.0","source":{"id":"2104.00241","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.00241","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"arxiv_version","alias_value":"2104.00241v1","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.00241","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_12","alias_value":"AOPP26MVJFPI","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_16","alias_value":"AOPP26MVJFPIGMAA","created_at":"2026-07-05T02:28:25Z"},{"alias_kind":"pith_short_8","alias_value":"AOPP26MV","created_at":"2026-07-05T02:28:25Z"}],"graph_snapshots":[{"event_id":"sha256:383ad9604d09b654543d2c1b70720e45b400b7866140de36f98df39b25e6dbdf","target":"graph","created_at":"2026-07-05T02:28:25Z","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/2104.00241/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we provide a generalized framework for Variational Inference-Stochastic Optimal Control by using thenon-extensive Tsallis divergence. By incorporating the deformed exponential function into the optimality likelihood function, a novel Tsallis Variational Inference-Model Predictive Control algorithm is derived, which includes prior works such as Variational Inference-Model Predictive Control, Model Predictive PathIntegral Control, Cross Entropy Method, and Stein VariationalInference Model Predictive Control as special cases. The proposed algorithm allows for effective control of t","authors_text":"Bogdan Vlahov, Evangelos A. Theodorou, Guan-Horng Liu, Jason Gibson, Manan S. Gandhi, Oswin So, Ziyi Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-01T04:00:49Z","title":"Variational Inference MPC using Tsallis Divergence"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.00241","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:e272c3a4de0eca079026bc5539d81351a29b0e29d567b5e25c9ba4c4abfbaabe","target":"record","created_at":"2026-07-05T02:28:25Z","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":"c41d15248e033212c364606e7df9deed2d8372900cbe36ac7c3ffdd01fbfd06e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-01T04:00:49Z","title_canon_sha256":"b3f193bf6566199d5c02fb53269b869830ec22d64a0047c38ad79a62ab7f9118"},"schema_version":"1.0","source":{"id":"2104.00241","kind":"arxiv","version":1}},"canonical_sha256":"039efd7995495e833000327ed2af0197ac58c83451a6c2f498fceb62796f14c1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"039efd7995495e833000327ed2af0197ac58c83451a6c2f498fceb62796f14c1","first_computed_at":"2026-07-05T02:28:25.542611Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:28:25.542611Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qhbT7N76N03560MrGmbU/33A3jozf/Aef+FnQIXDEwdmqqbPL/ARZthrT/I6Pc+3hevy98WYts3sOfvHcZC8AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:28:25.543121Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.00241","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e272c3a4de0eca079026bc5539d81351a29b0e29d567b5e25c9ba4c4abfbaabe","sha256:383ad9604d09b654543d2c1b70720e45b400b7866140de36f98df39b25e6dbdf"],"state_sha256":"d59364210e437bc52305406e0e858ca4a7aebb70528f9f1b7ae81a19ff73a57b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+UnjlrEFLZdJyHGRQjPuf1QLobPQilLC3WJ3gMdTAC2dWu8YjH9dOZXFtVbmOZaBpwlRjFslj+DLBG3SQc9uBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T20:23:45.676980Z","bundle_sha256":"8d35d00f62e94926812ddcb26c43e4c90d6fa35a7cedc87d76bb78962308ced2"}}