{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:BP2EJJC3DGT5NMPYIL7W22ZHZK","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":"55da1d23200e05182c7236e027f3b1c9d84510c4a31a8391e034cb5c899788b7","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2017-02-08T14:53:45Z","title_canon_sha256":"ff513509ef223a48a1e4b024e3d30eb407e2a2e47eb79fa79a102bd64a5728e7"},"schema_version":"1.0","source":{"id":"1702.02453","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1702.02453","created_at":"2026-05-18T00:44:33Z"},{"alias_kind":"arxiv_version","alias_value":"1702.02453v3","created_at":"2026-05-18T00:44:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.02453","created_at":"2026-05-18T00:44:33Z"},{"alias_kind":"pith_short_12","alias_value":"BP2EJJC3DGT5","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_16","alias_value":"BP2EJJC3DGT5NMPY","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_8","alias_value":"BP2EJJC3","created_at":"2026-05-18T12:31:08Z"}],"graph_snapshots":[{"event_id":"sha256:bec22a818ba36e30d30c56a4c29ff99450702457f59e25c68762efd8004866d0","target":"graph","created_at":"2026-05-18T00:44:33Z","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"},"paper":{"abstract_excerpt":"We present a new method of learning control policies that successfully operate under unknown dynamic models. We create such policies by leveraging a large number of training examples that are generated using a physical simulator. Our system is made of two components: a Universal Policy (UP) and a function for Online System Identification (OSI). We describe our control policy as universal because it is trained over a wide array of dynamic models. These variations in the dynamic model may include differences in mass and inertia of the robots' components, variable friction coefficients, or unknow","authors_text":"C. Karen Liu, Greg Turk, Jie Tan, Wenhao Yu","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2017-02-08T14:53:45Z","title":"Preparing for the Unknown: Learning a Universal Policy with Online System Identification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.02453","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":"sha256:9fc3a70aa2a50256edd6b9800198285bca578f4f0b427b86f72eea8a20953664","target":"record","created_at":"2026-05-18T00:44:33Z","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":"55da1d23200e05182c7236e027f3b1c9d84510c4a31a8391e034cb5c899788b7","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2017-02-08T14:53:45Z","title_canon_sha256":"ff513509ef223a48a1e4b024e3d30eb407e2a2e47eb79fa79a102bd64a5728e7"},"schema_version":"1.0","source":{"id":"1702.02453","kind":"arxiv","version":3}},"canonical_sha256":"0bf444a45b19a7d6b1f842ff6d6b27ca902b4391db53631ecc7f718852fedbe9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0bf444a45b19a7d6b1f842ff6d6b27ca902b4391db53631ecc7f718852fedbe9","first_computed_at":"2026-05-18T00:44:33.479261Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:44:33.479261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3EltWVeDd2XWZp4YV1BSi3f+9XyFqizGt1/Q+XOl/KuVURT4nrWRMdNscjZF8TGWahQD4IX3y4/140tzZ6dPAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:44:33.479710Z","signed_message":"canonical_sha256_bytes"},"source_id":"1702.02453","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9fc3a70aa2a50256edd6b9800198285bca578f4f0b427b86f72eea8a20953664","sha256:bec22a818ba36e30d30c56a4c29ff99450702457f59e25c68762efd8004866d0"],"state_sha256":"8dc6c30c5aa52cf4c9dfdedd1a3a19da2529b1726cde246e8cbeda8d7a9f6e1d"}