{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:AYLB2BN3SPJRJNUMKHLMV24EWC","short_pith_number":"pith:AYLB2BN3","canonical_record":{"source":{"id":"2103.14727","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-26T20:49:14Z","cross_cats_sorted":["cs.AI","cs.SY","math.OC","math.PR"],"title_canon_sha256":"d15c23afaeda1e38f141ad25a6ab30e0ab4fa533b4af633f3bfeb2d9d1bdaa9b","abstract_canon_sha256":"50b31a72a9267c09e45476690eba2959917d5eeea2ceee3d35facf8adb328301"},"schema_version":"1.0"},"canonical_sha256":"06161d05bb93d314b68c51d6caeb84b0a3b235eb140219eba48743066e8714d2","source":{"kind":"arxiv","id":"2103.14727","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14727","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14727v1","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14727","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_12","alias_value":"AYLB2BN3SPJR","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_16","alias_value":"AYLB2BN3SPJRJNUM","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_8","alias_value":"AYLB2BN3","created_at":"2026-07-05T02:26:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:AYLB2BN3SPJRJNUMKHLMV24EWC","target":"record","payload":{"canonical_record":{"source":{"id":"2103.14727","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-26T20:49:14Z","cross_cats_sorted":["cs.AI","cs.SY","math.OC","math.PR"],"title_canon_sha256":"d15c23afaeda1e38f141ad25a6ab30e0ab4fa533b4af633f3bfeb2d9d1bdaa9b","abstract_canon_sha256":"50b31a72a9267c09e45476690eba2959917d5eeea2ceee3d35facf8adb328301"},"schema_version":"1.0"},"canonical_sha256":"06161d05bb93d314b68c51d6caeb84b0a3b235eb140219eba48743066e8714d2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:26:58.719843Z","signature_b64":"OPNFH1ijzGu7gUszmhah+qHBhbHscfEeXu1XUkLpKRcUSRGQn8vHQDV87N+UP7RH7BIOX7o9WWTQtdSBqtuVDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"06161d05bb93d314b68c51d6caeb84b0a3b235eb140219eba48743066e8714d2","last_reissued_at":"2026-07-05T02:26:58.719374Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:26:58.719374Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.14727","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":"2026-07-05T02:26:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ceaz1ntYgb/808csnzGjYqadf3IV5IO2L/TcbdJ8FTD+Qe0TURXJo4M6U6q8RQkR2lECniJWQH1mUIRQfiEeAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:27:47.426911Z"},"content_sha256":"08f7c216bd07405c24318bcc61a032d6f14f593e2c7477f07aac3517e3cce944","schema_version":"1.0","event_id":"sha256:08f7c216bd07405c24318bcc61a032d6f14f593e2c7477f07aac3517e3cce944"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:AYLB2BN3SPJRJNUMKHLMV24EWC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Risk-Averse Stochastic Shortest Path Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY","math.OC","math.PR"],"primary_cat":"eess.SY","authors_text":"Aaron D. Ames, Anushri Dixit, Joel W. Burdick, Mohamadreza Ahmadi","submitted_at":"2021-03-26T20:49:14Z","abstract_excerpt":"We consider the stochastic shortest path planning problem in MDPs, i.e., the problem of designing policies that ensure reaching a goal state from a given initial state with minimum accrued cost. In order to account for rare but important realizations of the system, we consider a nested dynamic coherent risk total cost functional rather than the conventional risk-neutral total expected cost. Under some assumptions, we show that optimal, stationary, Markovian policies exist and can be found via a special Bellman's equation. We propose a computational technique based on difference convex programs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14727","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/2103.14727/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":"2026-07-05T02:26:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rgL6WPqkF+p0YvZpqTXNPzeKmyV3bUoSbUrlkZe5wkVr9LiDRR1YSMiAwpGbzAQpRUQ0C0ndf7TlWqZjTV82CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:27:47.427286Z"},"content_sha256":"b1ca35d7a26db015e8f22df2f65db471c68eefe60cbf11c10455fede73f4b68c","schema_version":"1.0","event_id":"sha256:b1ca35d7a26db015e8f22df2f65db471c68eefe60cbf11c10455fede73f4b68c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/bundle.json","state_url":"https://pith.science/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/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":"2026-07-06T19:27:47Z","links":{"resolver":"https://pith.science/pith/AYLB2BN3SPJRJNUMKHLMV24EWC","bundle":"https://pith.science/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/bundle.json","state":"https://pith.science/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AYLB2BN3SPJRJNUMKHLMV24EWC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:AYLB2BN3SPJRJNUMKHLMV24EWC","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":"50b31a72a9267c09e45476690eba2959917d5eeea2ceee3d35facf8adb328301","cross_cats_sorted":["cs.AI","cs.SY","math.OC","math.PR"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-26T20:49:14Z","title_canon_sha256":"d15c23afaeda1e38f141ad25a6ab30e0ab4fa533b4af633f3bfeb2d9d1bdaa9b"},"schema_version":"1.0","source":{"id":"2103.14727","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14727","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14727v1","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14727","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_12","alias_value":"AYLB2BN3SPJR","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_16","alias_value":"AYLB2BN3SPJRJNUM","created_at":"2026-07-05T02:26:58Z"},{"alias_kind":"pith_short_8","alias_value":"AYLB2BN3","created_at":"2026-07-05T02:26:58Z"}],"graph_snapshots":[{"event_id":"sha256:b1ca35d7a26db015e8f22df2f65db471c68eefe60cbf11c10455fede73f4b68c","target":"graph","created_at":"2026-07-05T02:26:58Z","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/2103.14727/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We consider the stochastic shortest path planning problem in MDPs, i.e., the problem of designing policies that ensure reaching a goal state from a given initial state with minimum accrued cost. In order to account for rare but important realizations of the system, we consider a nested dynamic coherent risk total cost functional rather than the conventional risk-neutral total expected cost. Under some assumptions, we show that optimal, stationary, Markovian policies exist and can be found via a special Bellman's equation. We propose a computational technique based on difference convex programs","authors_text":"Aaron D. Ames, Anushri Dixit, Joel W. Burdick, Mohamadreza Ahmadi","cross_cats":["cs.AI","cs.SY","math.OC","math.PR"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-26T20:49:14Z","title":"Risk-Averse Stochastic Shortest Path Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14727","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":"sha256:08f7c216bd07405c24318bcc61a032d6f14f593e2c7477f07aac3517e3cce944","target":"record","created_at":"2026-07-05T02:26:58Z","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":"50b31a72a9267c09e45476690eba2959917d5eeea2ceee3d35facf8adb328301","cross_cats_sorted":["cs.AI","cs.SY","math.OC","math.PR"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-26T20:49:14Z","title_canon_sha256":"d15c23afaeda1e38f141ad25a6ab30e0ab4fa533b4af633f3bfeb2d9d1bdaa9b"},"schema_version":"1.0","source":{"id":"2103.14727","kind":"arxiv","version":1}},"canonical_sha256":"06161d05bb93d314b68c51d6caeb84b0a3b235eb140219eba48743066e8714d2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"06161d05bb93d314b68c51d6caeb84b0a3b235eb140219eba48743066e8714d2","first_computed_at":"2026-07-05T02:26:58.719374Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:26:58.719374Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OPNFH1ijzGu7gUszmhah+qHBhbHscfEeXu1XUkLpKRcUSRGQn8vHQDV87N+UP7RH7BIOX7o9WWTQtdSBqtuVDg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:26:58.719843Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.14727","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:08f7c216bd07405c24318bcc61a032d6f14f593e2c7477f07aac3517e3cce944","sha256:b1ca35d7a26db015e8f22df2f65db471c68eefe60cbf11c10455fede73f4b68c"],"state_sha256":"77743e22161426131aa1f6890e5f2ed8df80299a2f2dcdf1e3fae35282bdea55"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tpgmkH9+tkfDdS7XA92Ps352gEfw0zh5jsIhISs3O4LXmHAkHp3R8n+BiM0/gBj6eFm5dW9QZRCWmOQzu7bHDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:27:47.429386Z","bundle_sha256":"dac90772e071457855a11d33e901386bc3a855208439bfc5f50ce0e362ec6009"}}