{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:D2ARF2FND367BK45JQRIVW5HLV","short_pith_number":"pith:D2ARF2FN","canonical_record":{"source":{"id":"1809.06480","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-09-18T00:01:20Z","cross_cats_sorted":[],"title_canon_sha256":"82ce8620814973d0dbb23c53ff3d9531fbde122e76700a9e5051066d34249df5","abstract_canon_sha256":"2be823b0ca8aaece31ad596f6208783221373d4d38d3f05bde3fff7cff6a55be"},"schema_version":"1.0"},"canonical_sha256":"1e8112e8ad1efdf0ab9d4c228adba75d470eb48827b14b1cfe1ea35a0157175a","source":{"kind":"arxiv","id":"1809.06480","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06480","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06480v1","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06480","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"pith_short_12","alias_value":"D2ARF2FND367","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D2ARF2FND367BK45","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D2ARF2FN","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:D2ARF2FND367BK45JQRIVW5HLV","target":"record","payload":{"canonical_record":{"source":{"id":"1809.06480","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-09-18T00:01:20Z","cross_cats_sorted":[],"title_canon_sha256":"82ce8620814973d0dbb23c53ff3d9531fbde122e76700a9e5051066d34249df5","abstract_canon_sha256":"2be823b0ca8aaece31ad596f6208783221373d4d38d3f05bde3fff7cff6a55be"},"schema_version":"1.0"},"canonical_sha256":"1e8112e8ad1efdf0ab9d4c228adba75d470eb48827b14b1cfe1ea35a0157175a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:27.060006Z","signature_b64":"sYw+Wh7iu26t8sudaHLes+EomDnkV6KU95u3kl+IMnJXs4hJswbwg5V9JBnSvjRYVRXBGiF3khFnbyfJ8RM/Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1e8112e8ad1efdf0ab9d4c228adba75d470eb48827b14b1cfe1ea35a0157175a","last_reissued_at":"2026-05-18T00:05:27.059336Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:27.059336Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.06480","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":"2026-05-18T00:05:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/2AvAY551QW/kdTm4s7ALMCg6/We8iRaLri5ijIdaStEKEK43GYPtSCq1W1ZscVlUd3VpCnU6TIulw7tLE/yBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T10:54:48.659147Z"},"content_sha256":"585db35d30dd302df160a45931d06774043965e367f4b34a250d2cb8aed18976","schema_version":"1.0","event_id":"sha256:585db35d30dd302df160a45931d06774043965e367f4b34a250d2cb8aed18976"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:D2ARF2FND367BK45JQRIVW5HLV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Transfer Entropy in MDPs with Temporal Logic Specifications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Mohamadreza Ahmadi, Suda Bharadwaj, Takashi Tanaka, Ufuk Topcu","submitted_at":"2018-09-18T00:01:20Z","abstract_excerpt":"Emerging applications in autonomy require control techniques that take into account uncertain environments, communication and sensing constraints, while satisfying highlevel mission specifications. Motivated by this need, we consider a class of Markov decision processes (MDPs), along with a transfer entropy cost function. In this context, we study highlevel mission specifications as co-safe linear temporal logic (LTL) formulae. We provide a method to synthesize a policy that minimizes the weighted sum of the transfer entropy and the probability of failure to satisfy the specification. We deriv"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06480","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":""},"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":"2026-05-18T00:05:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eFlgg7D0VLWMlu2oNF9ibRhRG8ZO8UpyocRXbtUtED5oscz2a3S+tcMh5sk/bHdO3eDCqJDAi73wjCRI5kelDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T10:54:48.659852Z"},"content_sha256":"8c01e7decefc78a5a1951b72651a8dcb51d57fabe3be5cf392becd41fd417de5","schema_version":"1.0","event_id":"sha256:8c01e7decefc78a5a1951b72651a8dcb51d57fabe3be5cf392becd41fd417de5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D2ARF2FND367BK45JQRIVW5HLV/bundle.json","state_url":"https://pith.science/pith/D2ARF2FND367BK45JQRIVW5HLV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D2ARF2FND367BK45JQRIVW5HLV/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":"2026-05-27T10:54:48Z","links":{"resolver":"https://pith.science/pith/D2ARF2FND367BK45JQRIVW5HLV","bundle":"https://pith.science/pith/D2ARF2FND367BK45JQRIVW5HLV/bundle.json","state":"https://pith.science/pith/D2ARF2FND367BK45JQRIVW5HLV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D2ARF2FND367BK45JQRIVW5HLV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:D2ARF2FND367BK45JQRIVW5HLV","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":"2be823b0ca8aaece31ad596f6208783221373d4d38d3f05bde3fff7cff6a55be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-09-18T00:01:20Z","title_canon_sha256":"82ce8620814973d0dbb23c53ff3d9531fbde122e76700a9e5051066d34249df5"},"schema_version":"1.0","source":{"id":"1809.06480","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06480","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06480v1","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06480","created_at":"2026-05-18T00:05:27Z"},{"alias_kind":"pith_short_12","alias_value":"D2ARF2FND367","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D2ARF2FND367BK45","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D2ARF2FN","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:8c01e7decefc78a5a1951b72651a8dcb51d57fabe3be5cf392becd41fd417de5","target":"graph","created_at":"2026-05-18T00:05:27Z","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"},"paper":{"abstract_excerpt":"Emerging applications in autonomy require control techniques that take into account uncertain environments, communication and sensing constraints, while satisfying highlevel mission specifications. Motivated by this need, we consider a class of Markov decision processes (MDPs), along with a transfer entropy cost function. In this context, we study highlevel mission specifications as co-safe linear temporal logic (LTL) formulae. We provide a method to synthesize a policy that minimizes the weighted sum of the transfer entropy and the probability of failure to satisfy the specification. We deriv","authors_text":"Mohamadreza Ahmadi, Suda Bharadwaj, Takashi Tanaka, Ufuk Topcu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-09-18T00:01:20Z","title":"Transfer Entropy in MDPs with Temporal Logic Specifications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06480","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":"sha256:585db35d30dd302df160a45931d06774043965e367f4b34a250d2cb8aed18976","target":"record","created_at":"2026-05-18T00:05:27Z","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":"2be823b0ca8aaece31ad596f6208783221373d4d38d3f05bde3fff7cff6a55be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-09-18T00:01:20Z","title_canon_sha256":"82ce8620814973d0dbb23c53ff3d9531fbde122e76700a9e5051066d34249df5"},"schema_version":"1.0","source":{"id":"1809.06480","kind":"arxiv","version":1}},"canonical_sha256":"1e8112e8ad1efdf0ab9d4c228adba75d470eb48827b14b1cfe1ea35a0157175a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1e8112e8ad1efdf0ab9d4c228adba75d470eb48827b14b1cfe1ea35a0157175a","first_computed_at":"2026-05-18T00:05:27.059336Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:27.059336Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sYw+Wh7iu26t8sudaHLes+EomDnkV6KU95u3kl+IMnJXs4hJswbwg5V9JBnSvjRYVRXBGiF3khFnbyfJ8RM/Cw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:27.060006Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.06480","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:585db35d30dd302df160a45931d06774043965e367f4b34a250d2cb8aed18976","sha256:8c01e7decefc78a5a1951b72651a8dcb51d57fabe3be5cf392becd41fd417de5"],"state_sha256":"288453781972b71d94ab13f4c88576fd9da7953416f2bd176f1b366e9ea42004"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tTHYpmy2mM1VpaW1AaGjXMzvR5ZigG09E8XqJKlvJLsZwxWfXYo2b3dHoU7dC0huG1/v7Flvnioe7tWs6903AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T10:54:48.663482Z","bundle_sha256":"a9ea765e721110ec732b1a4a02b24b9576743e61b86eeec5e3947fa1a6ff3085"}}