{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:GTYSKAMQ2XR55ITH27SDWW65BC","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":"cdcd04a900d94079ec8357eb5280e2cab0e8cad07365cb6ab4980c2cc3ba5383","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-23T15:21:03Z","title_canon_sha256":"863c9270b8dff48f515bd233a1413cc7f0b9419176c40395e6f157ba81a602eb"},"schema_version":"1.0","source":{"id":"2305.14154","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.14154","created_at":"2026-07-05T06:13:01Z"},{"alias_kind":"arxiv_version","alias_value":"2305.14154v1","created_at":"2026-07-05T06:13:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.14154","created_at":"2026-07-05T06:13:01Z"},{"alias_kind":"pith_short_12","alias_value":"GTYSKAMQ2XR5","created_at":"2026-07-05T06:13:01Z"},{"alias_kind":"pith_short_16","alias_value":"GTYSKAMQ2XR55ITH","created_at":"2026-07-05T06:13:01Z"},{"alias_kind":"pith_short_8","alias_value":"GTYSKAMQ","created_at":"2026-07-05T06:13:01Z"}],"graph_snapshots":[{"event_id":"sha256:25412273caf3107e02b9bf8dbd2dabc9156c7327b613141d461176887212642c","target":"graph","created_at":"2026-07-05T06:13:01Z","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/2305.14154/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tasks for autonomous robotic systems commonly require stabilization to a desired region while maintaining safety specifications. However, solving this multi-objective problem is challenging when the dynamics are nonlinear and high-dimensional, as traditional methods do not scale well and are often limited to specific problem structures. To address this issue, we propose a novel approach to solve the stabilize-avoid problem via the solution of an infinite-horizon constrained optimal control problem (OCP). We transform the constrained OCP into epigraph form and obtain a two-stage optimization pr","authors_text":"Chuchu Fan, Oswin So","cross_cats":["math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-23T15:21:03Z","title":"Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.14154","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":"sha256:3f06fc4d8ed1ab2f54eece82d52b8f64e6a20c5ccff9d490c104984f8956e8db","target":"record","created_at":"2026-07-05T06:13:01Z","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":"cdcd04a900d94079ec8357eb5280e2cab0e8cad07365cb6ab4980c2cc3ba5383","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-05-23T15:21:03Z","title_canon_sha256":"863c9270b8dff48f515bd233a1413cc7f0b9419176c40395e6f157ba81a602eb"},"schema_version":"1.0","source":{"id":"2305.14154","kind":"arxiv","version":1}},"canonical_sha256":"34f1250190d5e3dea267d7e43b5bdd0881f9ecf29bb1395ed68303430c5b332c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"34f1250190d5e3dea267d7e43b5bdd0881f9ecf29bb1395ed68303430c5b332c","first_computed_at":"2026-07-05T06:13:01.486505Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:13:01.486505Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8vZP2JTnG1sUwHY3UNfCTc3nhpLLCJ6dv5ec9vRWKD2hJIE83kasDpjd3yMBz6CHLJnz84Xt0BPWC8GTTZ5yCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:13:01.486981Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.14154","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f06fc4d8ed1ab2f54eece82d52b8f64e6a20c5ccff9d490c104984f8956e8db","sha256:25412273caf3107e02b9bf8dbd2dabc9156c7327b613141d461176887212642c"],"state_sha256":"306e3755a0442798a61a6dd9613ecab5e9d1486918f458e9e7368c7395d95d8d"}