{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:HQPQAZ4NYEPDXJ3FD2UCYNVYFM","short_pith_number":"pith:HQPQAZ4N","canonical_record":{"source":{"id":"2310.07892","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-11T20:55:13Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"1d449367178b3693e4daf95c6d3b83c125b95186292ee9b65df741275d4993fd","abstract_canon_sha256":"83093ff67d3961f90d80c316c56245b4769d1ee1bd695be05481924e31c455a7"},"schema_version":"1.0"},"canonical_sha256":"3c1f00678dc11e3ba7651ea82c36b82b2ec9b69a77ba375fd64b4c38b9b6ff52","source":{"kind":"arxiv","id":"2310.07892","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.07892","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"arxiv_version","alias_value":"2310.07892v1","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.07892","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_12","alias_value":"HQPQAZ4NYEPD","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_16","alias_value":"HQPQAZ4NYEPDXJ3F","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_8","alias_value":"HQPQAZ4N","created_at":"2026-07-05T06:59:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:HQPQAZ4NYEPDXJ3FD2UCYNVYFM","target":"record","payload":{"canonical_record":{"source":{"id":"2310.07892","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-11T20:55:13Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"1d449367178b3693e4daf95c6d3b83c125b95186292ee9b65df741275d4993fd","abstract_canon_sha256":"83093ff67d3961f90d80c316c56245b4769d1ee1bd695be05481924e31c455a7"},"schema_version":"1.0"},"canonical_sha256":"3c1f00678dc11e3ba7651ea82c36b82b2ec9b69a77ba375fd64b4c38b9b6ff52","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:59:57.984825Z","signature_b64":"yi7u6+b5vP/kOSmmczN9BwkaaVmkweVqz05ntvRSPrdtZMaSbXaYlXH1KD/M8+RIvDo3xlsf8JHUByOuyM6ZAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3c1f00678dc11e3ba7651ea82c36b82b2ec9b69a77ba375fd64b4c38b9b6ff52","last_reissued_at":"2026-07-05T06:59:57.984284Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:59:57.984284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.07892","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":"2026-07-05T06:59:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iL5/4naZq6G06PVnG+192ttmOw+yWmFSG+9CiAOriq3Xm3Hsmcx8p15zYGZWSzFQf1AXUIeNrpWgiBBe3R/9Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T15:26:49.846806Z"},"content_sha256":"5cf8b2be5929d39a82299de33fed3ed1da3bea0dd5854a153bd91ae43822d6e5","schema_version":"1.0","event_id":"sha256:5cf8b2be5929d39a82299de33fed3ed1da3bea0dd5854a153bd91ae43822d6e5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:HQPQAZ4NYEPDXJ3FD2UCYNVYFM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Ajinkya Chaudhary, Jalil Chavez-Galaviz, Jianwen Li, Nina Mahmoudian","submitted_at":"2023-10-11T20:55:13Z","abstract_excerpt":"Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position or in collaboration with other vehicles where the relative position has an impact over the mission. However, this maneuver can become challenging for classic feedback controllers due to the need for an accurate model of the ASV dynamics and the environmental disturbances. This work proposes a Model Predictive Controller using Neural Network Simulation Error Minimization (NNSEM-MPC) to accurately predict the dynamics"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.07892","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/2310.07892/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":"2026-07-05T06:59:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F2UmZhM33PgGLAfTJJ/5DlivjMlSbPf1rDcqlqY/oGHgjkVHatxgzYE+X424UFpWsGeDNfTeFhKVxc7TMQadBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T15:26:49.847719Z"},"content_sha256":"e5df0d775903bfc7fda814fce50084ece960ade47ae35f644d42ed107d901ef8","schema_version":"1.0","event_id":"sha256:e5df0d775903bfc7fda814fce50084ece960ade47ae35f644d42ed107d901ef8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/bundle.json","state_url":"https://pith.science/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/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":"2026-08-19T15:26:49Z","links":{"resolver":"https://pith.science/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM","bundle":"https://pith.science/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/bundle.json","state":"https://pith.science/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HQPQAZ4NYEPDXJ3FD2UCYNVYFM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:HQPQAZ4NYEPDXJ3FD2UCYNVYFM","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":"83093ff67d3961f90d80c316c56245b4769d1ee1bd695be05481924e31c455a7","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-11T20:55:13Z","title_canon_sha256":"1d449367178b3693e4daf95c6d3b83c125b95186292ee9b65df741275d4993fd"},"schema_version":"1.0","source":{"id":"2310.07892","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.07892","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"arxiv_version","alias_value":"2310.07892v1","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.07892","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_12","alias_value":"HQPQAZ4NYEPD","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_16","alias_value":"HQPQAZ4NYEPDXJ3F","created_at":"2026-07-05T06:59:57Z"},{"alias_kind":"pith_short_8","alias_value":"HQPQAZ4N","created_at":"2026-07-05T06:59:57Z"}],"graph_snapshots":[{"event_id":"sha256:e5df0d775903bfc7fda814fce50084ece960ade47ae35f644d42ed107d901ef8","target":"graph","created_at":"2026-07-05T06:59:57Z","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/2310.07892/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position or in collaboration with other vehicles where the relative position has an impact over the mission. However, this maneuver can become challenging for classic feedback controllers due to the need for an accurate model of the ASV dynamics and the environmental disturbances. This work proposes a Model Predictive Controller using Neural Network Simulation Error Minimization (NNSEM-MPC) to accurately predict the dynamics","authors_text":"Ajinkya Chaudhary, Jalil Chavez-Galaviz, Jianwen Li, Nina Mahmoudian","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-11T20:55:13Z","title":"ASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.07892","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":"sha256:5cf8b2be5929d39a82299de33fed3ed1da3bea0dd5854a153bd91ae43822d6e5","target":"record","created_at":"2026-07-05T06:59:57Z","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":"83093ff67d3961f90d80c316c56245b4769d1ee1bd695be05481924e31c455a7","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-11T20:55:13Z","title_canon_sha256":"1d449367178b3693e4daf95c6d3b83c125b95186292ee9b65df741275d4993fd"},"schema_version":"1.0","source":{"id":"2310.07892","kind":"arxiv","version":1}},"canonical_sha256":"3c1f00678dc11e3ba7651ea82c36b82b2ec9b69a77ba375fd64b4c38b9b6ff52","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3c1f00678dc11e3ba7651ea82c36b82b2ec9b69a77ba375fd64b4c38b9b6ff52","first_computed_at":"2026-07-05T06:59:57.984284Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:59:57.984284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yi7u6+b5vP/kOSmmczN9BwkaaVmkweVqz05ntvRSPrdtZMaSbXaYlXH1KD/M8+RIvDo3xlsf8JHUByOuyM6ZAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:59:57.984825Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.07892","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5cf8b2be5929d39a82299de33fed3ed1da3bea0dd5854a153bd91ae43822d6e5","sha256:e5df0d775903bfc7fda814fce50084ece960ade47ae35f644d42ed107d901ef8"],"state_sha256":"c47e1ec517e5493c81730fcb84e5cfd35e877a0208badd4d942da0c1f76f2207"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dh7JpDRO439JMmpbZVKyL/jLzPANgltbRo0vi9Y1TZqTsdIh/bfDzjNkTlWRJgR7REHi9xMLql2QFYGZZUB5DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T15:26:49.854738Z","bundle_sha256":"08abad10d34aa4d706a184f90f643179a6fb7ba5e43af64d3d5ffa6526a2176c"}}