{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:H6WLOJKNIUJQUZMJRMHVHRF5BE","short_pith_number":"pith:H6WLOJKN","canonical_record":{"source":{"id":"1705.05394","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-15T18:02:17Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"8f2c689efc2db98a0f739968fa183b57a6cadedd1553ea043f9551919c9a84e9","abstract_canon_sha256":"4d4a3918459e7cf7cf709e02c83c820fa1842b7ad9c346fbe9fafda55f6716e0"},"schema_version":"1.0"},"canonical_sha256":"3facb7254d45130a65898b0f53c4bd0932800e56aac2269115d403daeb357002","source":{"kind":"arxiv","id":"1705.05394","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.05394","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"arxiv_version","alias_value":"1705.05394v1","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.05394","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"pith_short_12","alias_value":"H6WLOJKNIUJQ","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"H6WLOJKNIUJQUZMJ","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"H6WLOJKN","created_at":"2026-05-18T12:31:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:H6WLOJKNIUJQUZMJRMHVHRF5BE","target":"record","payload":{"canonical_record":{"source":{"id":"1705.05394","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-15T18:02:17Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"8f2c689efc2db98a0f739968fa183b57a6cadedd1553ea043f9551919c9a84e9","abstract_canon_sha256":"4d4a3918459e7cf7cf709e02c83c820fa1842b7ad9c346fbe9fafda55f6716e0"},"schema_version":"1.0"},"canonical_sha256":"3facb7254d45130a65898b0f53c4bd0932800e56aac2269115d403daeb357002","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:44:22.822350Z","signature_b64":"dyauR1p+0u2optXCiG3+DOudnToGMoq11sEsOi6GG4HOMn1Uil75uHmlNLkWO98hK8Cg1ayTAnCyTce5m0+rBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3facb7254d45130a65898b0f53c4bd0932800e56aac2269115d403daeb357002","last_reissued_at":"2026-05-18T00:44:22.821796Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:44:22.821796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1705.05394","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":"2026-05-18T00:44:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hdIVfZKVI7lBeicMl652TsA+jZ93B/zwmLSLwvGLR3VhUB+eJ54IASjDvU0j+f40jEMaTDaS1aTBUbtAehCwAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T13:07:27.253506Z"},"content_sha256":"bb07174d2fe743251d0820ca2a96d12130eafe62526f341b511d73e53678181f","schema_version":"1.0","event_id":"sha256:bb07174d2fe743251d0820ca2a96d12130eafe62526f341b511d73e53678181f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:H6WLOJKNIUJQUZMJRMHVHRF5BE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Probabilistically Safe Policy Transfer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"David Held, Fred Shentu, Michael Zhang, Pieter Abbeel, Zoe McCarthy","submitted_at":"2017-05-15T18:02:17Z","abstract_excerpt":"Although learning-based methods have great potential for robotics, one concern is that a robot that updates its parameters might cause large amounts of damage before it learns the optimal policy. We formalize the idea of safe learning in a probabilistic sense by defining an optimization problem: we desire to maximize the expected return while keeping the expected damage below a given safety limit. We study this optimization for the case of a robot manipulator with safety-based torque limits. We would like to ensure that the damage constraint is maintained at every step of the optimization and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.05394","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":"2026-05-18T00:44:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J3dM53ZrJZ7z9xoSHzOb7s9YObre3tneg1IE+dCo1UYCVhiPqTFh9R66jbj0MexDQMwOEPh9xX53qnQxt+eCAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T13:07:27.253946Z"},"content_sha256":"962bb6fafd2e1e43a1f057438c3cd3436f07fd96b89ca2154eb4e5f02b6e503c","schema_version":"1.0","event_id":"sha256:962bb6fafd2e1e43a1f057438c3cd3436f07fd96b89ca2154eb4e5f02b6e503c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/bundle.json","state_url":"https://pith.science/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/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":"2026-06-08T13:07:27Z","links":{"resolver":"https://pith.science/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE","bundle":"https://pith.science/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/bundle.json","state":"https://pith.science/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H6WLOJKNIUJQUZMJRMHVHRF5BE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:H6WLOJKNIUJQUZMJRMHVHRF5BE","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":"4d4a3918459e7cf7cf709e02c83c820fa1842b7ad9c346fbe9fafda55f6716e0","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-15T18:02:17Z","title_canon_sha256":"8f2c689efc2db98a0f739968fa183b57a6cadedd1553ea043f9551919c9a84e9"},"schema_version":"1.0","source":{"id":"1705.05394","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.05394","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"arxiv_version","alias_value":"1705.05394v1","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.05394","created_at":"2026-05-18T00:44:22Z"},{"alias_kind":"pith_short_12","alias_value":"H6WLOJKNIUJQ","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"H6WLOJKNIUJQUZMJ","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"H6WLOJKN","created_at":"2026-05-18T12:31:18Z"}],"graph_snapshots":[{"event_id":"sha256:962bb6fafd2e1e43a1f057438c3cd3436f07fd96b89ca2154eb4e5f02b6e503c","target":"graph","created_at":"2026-05-18T00:44:22Z","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":"Although learning-based methods have great potential for robotics, one concern is that a robot that updates its parameters might cause large amounts of damage before it learns the optimal policy. We formalize the idea of safe learning in a probabilistic sense by defining an optimization problem: we desire to maximize the expected return while keeping the expected damage below a given safety limit. We study this optimization for the case of a robot manipulator with safety-based torque limits. We would like to ensure that the damage constraint is maintained at every step of the optimization and ","authors_text":"David Held, Fred Shentu, Michael Zhang, Pieter Abbeel, Zoe McCarthy","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-15T18:02:17Z","title":"Probabilistically Safe Policy Transfer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.05394","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:bb07174d2fe743251d0820ca2a96d12130eafe62526f341b511d73e53678181f","target":"record","created_at":"2026-05-18T00:44:22Z","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":"4d4a3918459e7cf7cf709e02c83c820fa1842b7ad9c346fbe9fafda55f6716e0","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-15T18:02:17Z","title_canon_sha256":"8f2c689efc2db98a0f739968fa183b57a6cadedd1553ea043f9551919c9a84e9"},"schema_version":"1.0","source":{"id":"1705.05394","kind":"arxiv","version":1}},"canonical_sha256":"3facb7254d45130a65898b0f53c4bd0932800e56aac2269115d403daeb357002","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3facb7254d45130a65898b0f53c4bd0932800e56aac2269115d403daeb357002","first_computed_at":"2026-05-18T00:44:22.821796Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:44:22.821796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dyauR1p+0u2optXCiG3+DOudnToGMoq11sEsOi6GG4HOMn1Uil75uHmlNLkWO98hK8Cg1ayTAnCyTce5m0+rBw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:44:22.822350Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.05394","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bb07174d2fe743251d0820ca2a96d12130eafe62526f341b511d73e53678181f","sha256:962bb6fafd2e1e43a1f057438c3cd3436f07fd96b89ca2154eb4e5f02b6e503c"],"state_sha256":"b5ff4a6255d98f8db3e8974df241901e3ed6d4ed6dbf984416ba171f05e5ecb8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L14LomzA9RwBT4gz2mdPgeeB2wV1VULn1saFfprswnEuYsqPcWHoJZZ/fGWQFDNzsLWxwzG9E4kKUC+qfo8uDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T13:07:27.256814Z","bundle_sha256":"a10c6a414539a072d31e2fb85adce31c93757715990b0ebbe63a7bb8f14d2178"}}