{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:ILBPY6SA5RBD2KOXXZCBNL3FCF","short_pith_number":"pith:ILBPY6SA","canonical_record":{"source":{"id":"2205.14812","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-30T02:36:35Z","cross_cats_sorted":[],"title_canon_sha256":"35cdf83e46f55361a3890630ec31b4964a4687ce1baccc579772a807a1940413","abstract_canon_sha256":"afe432ba09dcaf4469e486809b4efe09d6729d26c02d14dacd2c642aaf8cb612"},"schema_version":"1.0"},"canonical_sha256":"42c2fc7a40ec423d29d7be4416af65116d6ef7a5efe583b618b2bc77b4c8b1ee","source":{"kind":"arxiv","id":"2205.14812","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.14812","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"arxiv_version","alias_value":"2205.14812v2","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.14812","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_12","alias_value":"ILBPY6SA5RBD","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_16","alias_value":"ILBPY6SA5RBD2KOX","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_8","alias_value":"ILBPY6SA","created_at":"2026-07-05T05:33:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:ILBPY6SA5RBD2KOXXZCBNL3FCF","target":"record","payload":{"canonical_record":{"source":{"id":"2205.14812","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-30T02:36:35Z","cross_cats_sorted":[],"title_canon_sha256":"35cdf83e46f55361a3890630ec31b4964a4687ce1baccc579772a807a1940413","abstract_canon_sha256":"afe432ba09dcaf4469e486809b4efe09d6729d26c02d14dacd2c642aaf8cb612"},"schema_version":"1.0"},"canonical_sha256":"42c2fc7a40ec423d29d7be4416af65116d6ef7a5efe583b618b2bc77b4c8b1ee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:33:11.471043Z","signature_b64":"S4+RjWxEbzrxL7SQi0D+fFWyvDLlzcp4bmOmpD5J0Fgj38Ghvb+0O3YCwNHFiqoXyTPvT3v1fgAF+z9RhciAAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"42c2fc7a40ec423d29d7be4416af65116d6ef7a5efe583b618b2bc77b4c8b1ee","last_reissued_at":"2026-07-05T05:33:11.470640Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:33:11.470640Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2205.14812","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:33:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZMUYNW5MS5w0LkyiKzr2aPl9H2uP22fhF/0MldpM0IBunU95C0qPDWC4uqOhk4QQFTsaOmqmINjq+9DSjOgCDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T08:39:23.805602Z"},"content_sha256":"256895aecd5ecd8db61c9fcd8c617968a109974d929b8bce8ab3a7613b4d0668","schema_version":"1.0","event_id":"sha256:256895aecd5ecd8db61c9fcd8c617968a109974d929b8bce8ab3a7613b4d0668"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:ILBPY6SA5RBD2KOXXZCBNL3FCF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TaSIL: Taylor Series Imitation Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.LG","authors_text":"Daniel Pfrommer, Nikolai Matni, Stephen Tu, Thomas T.C.K. Zhang","submitted_at":"2022-05-30T02:36:35Z","abstract_excerpt":"We propose Taylor Series Imitation Learning (TaSIL), a simple augmentation to standard behavior cloning losses in the context of continuous control. TaSIL penalizes deviations in the higher-order Taylor series terms between the learned and expert policies. We show that experts satisfying a notion of $\\textit{incremental input-to-state stability}$ are easy to learn, in the sense that a small TaSIL-augmented imitation loss over expert trajectories guarantees a small imitation loss over trajectories generated by the learned policy. We provide sample-complexity bounds for TaSIL that scale as $\\til"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.14812","kind":"arxiv","version":2},"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/2205.14812/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":"2026-07-05T05:33:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vGsG/Fo1lfKMlECHnRN9PoqjxkqLkcJaYEetHwQweJnRwRTcQZj8xYdt1ZeV2LdSVLbBNDiCjVKkeLSgKQ7ZCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T08:39:23.806339Z"},"content_sha256":"ac8c3e6c938811fa7a549f40d5585e8a0b5dd83943f59c5b77e524e828671ece","schema_version":"1.0","event_id":"sha256:ac8c3e6c938811fa7a549f40d5585e8a0b5dd83943f59c5b77e524e828671ece"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/bundle.json","state_url":"https://pith.science/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/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":"2026-08-12T08:39:23Z","links":{"resolver":"https://pith.science/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF","bundle":"https://pith.science/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/bundle.json","state":"https://pith.science/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ILBPY6SA5RBD2KOXXZCBNL3FCF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ILBPY6SA5RBD2KOXXZCBNL3FCF","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":"afe432ba09dcaf4469e486809b4efe09d6729d26c02d14dacd2c642aaf8cb612","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-30T02:36:35Z","title_canon_sha256":"35cdf83e46f55361a3890630ec31b4964a4687ce1baccc579772a807a1940413"},"schema_version":"1.0","source":{"id":"2205.14812","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.14812","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"arxiv_version","alias_value":"2205.14812v2","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.14812","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_12","alias_value":"ILBPY6SA5RBD","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_16","alias_value":"ILBPY6SA5RBD2KOX","created_at":"2026-07-05T05:33:11Z"},{"alias_kind":"pith_short_8","alias_value":"ILBPY6SA","created_at":"2026-07-05T05:33:11Z"}],"graph_snapshots":[{"event_id":"sha256:ac8c3e6c938811fa7a549f40d5585e8a0b5dd83943f59c5b77e524e828671ece","target":"graph","created_at":"2026-07-05T05:33:11Z","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/2205.14812/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose Taylor Series Imitation Learning (TaSIL), a simple augmentation to standard behavior cloning losses in the context of continuous control. TaSIL penalizes deviations in the higher-order Taylor series terms between the learned and expert policies. We show that experts satisfying a notion of $\\textit{incremental input-to-state stability}$ are easy to learn, in the sense that a small TaSIL-augmented imitation loss over expert trajectories guarantees a small imitation loss over trajectories generated by the learned policy. We provide sample-complexity bounds for TaSIL that scale as $\\til","authors_text":"Daniel Pfrommer, Nikolai Matni, Stephen Tu, Thomas T.C.K. Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-30T02:36:35Z","title":"TaSIL: Taylor Series Imitation Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.14812","kind":"arxiv","version":2},"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":"sha256:256895aecd5ecd8db61c9fcd8c617968a109974d929b8bce8ab3a7613b4d0668","target":"record","created_at":"2026-07-05T05:33:11Z","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":"afe432ba09dcaf4469e486809b4efe09d6729d26c02d14dacd2c642aaf8cb612","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-05-30T02:36:35Z","title_canon_sha256":"35cdf83e46f55361a3890630ec31b4964a4687ce1baccc579772a807a1940413"},"schema_version":"1.0","source":{"id":"2205.14812","kind":"arxiv","version":2}},"canonical_sha256":"42c2fc7a40ec423d29d7be4416af65116d6ef7a5efe583b618b2bc77b4c8b1ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42c2fc7a40ec423d29d7be4416af65116d6ef7a5efe583b618b2bc77b4c8b1ee","first_computed_at":"2026-07-05T05:33:11.470640Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:33:11.470640Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"S4+RjWxEbzrxL7SQi0D+fFWyvDLlzcp4bmOmpD5J0Fgj38Ghvb+0O3YCwNHFiqoXyTPvT3v1fgAF+z9RhciAAw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:33:11.471043Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.14812","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:256895aecd5ecd8db61c9fcd8c617968a109974d929b8bce8ab3a7613b4d0668","sha256:ac8c3e6c938811fa7a549f40d5585e8a0b5dd83943f59c5b77e524e828671ece"],"state_sha256":"e197b59a249036331dae2cced905d93ed5ae37670200e75810342b7c693d1f2c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c+0Gtvgqh9DTX0Lt01+KJWHuQF3JNc8oScztbhIjRfd8AMHfBy4gVKjqve1A4lkcFcoTxVkwMI++WDVcj6BuDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T08:39:23.812876Z","bundle_sha256":"27a93819b7cde31238514ac4ef3117e78d65458a74b01616f251df55f527199a"}}