{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:J4NQHE6YMQHHY3AEOYCLBM55OE","short_pith_number":"pith:J4NQHE6Y","canonical_record":{"source":{"id":"2312.11255","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-18T14:52:34Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"99ebdbd402aede67200b91794783ffbba2b83ef4743452d899c48722b9bb71a1","abstract_canon_sha256":"69b52c6d97a263e38ab5cec5024ffba4735f98a88247fcb6b787716be6524364"},"schema_version":"1.0"},"canonical_sha256":"4f1b0393d8640e7c6c047604b0b3bd7117201caec9600f83d90b64f489a7c1e7","source":{"kind":"arxiv","id":"2312.11255","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.11255","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"arxiv_version","alias_value":"2312.11255v2","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.11255","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_12","alias_value":"J4NQHE6YMQHH","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_16","alias_value":"J4NQHE6YMQHHY3AE","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_8","alias_value":"J4NQHE6Y","created_at":"2026-07-05T09:25:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:J4NQHE6YMQHHY3AEOYCLBM55OE","target":"record","payload":{"canonical_record":{"source":{"id":"2312.11255","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-18T14:52:34Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"99ebdbd402aede67200b91794783ffbba2b83ef4743452d899c48722b9bb71a1","abstract_canon_sha256":"69b52c6d97a263e38ab5cec5024ffba4735f98a88247fcb6b787716be6524364"},"schema_version":"1.0"},"canonical_sha256":"4f1b0393d8640e7c6c047604b0b3bd7117201caec9600f83d90b64f489a7c1e7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:25:19.500338Z","signature_b64":"ptsfaIQ1IsFDKJsi3JTcWce8j2TYwW+0zP91KLw9CfnLP5yo3LBMgYq2/o4j7k/Vk3zRIe5L5ShJ99fop4oiBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4f1b0393d8640e7c6c047604b0b3bd7117201caec9600f83d90b64f489a7c1e7","last_reissued_at":"2026-07-05T09:25:19.499831Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:25:19.499831Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.11255","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":"2026-07-05T09:25:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uBkEwbGl/ix0c45GlcnkiKImccKfhE3uP7v6DrzlYx0GH++Y5lrb10Ka7xo0L0w7j7WLBz+urNkxSdxG/bHMBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T16:23:37.807279Z"},"content_sha256":"4ba926080dd91bbea3dff0ba20d49cb974260aedd08489651e2204e29f711c9f","schema_version":"1.0","event_id":"sha256:4ba926080dd91bbea3dff0ba20d49cb974260aedd08489651e2204e29f711c9f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:J4NQHE6YMQHHY3AEOYCLBM55OE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"State-action control barrier functions: Imposing safety on learning-based control with low online computational costs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Bart De Schutter, Kanghui He, Shengling Shi, Ton van den Boom","submitted_at":"2023-12-18T14:52:34Z","abstract_excerpt":"Learning-based control with safety guarantees usually requires real-time safety certification and modifications of possibly unsafe learning-based policies. The control barrier function (CBF) method uses a safety filter containing a constrained optimization problem to produce safe policies. However, finding a valid CBF for a general nonlinear system requires a complex function parameterization, which in general, makes the policy optimization problem difficult to solve in real time. For nonlinear systems with nonlinear state constraints, this paper proposes the novel concept of state-action CBFs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.11255","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/2312.11255/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":"2026-07-05T09:25:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L/BNZ+vLWM++xZw/+C3ysuG+glkF/pTrvkMyK2sdRgCoMWfBVBDmIcL2EEGngFUI/Jy950lt8TDhiGRuPRfwDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T16:23:37.807782Z"},"content_sha256":"c5ae7e6c84f93b46466007631bdfda7fd5f52309b41f41afbd5ccb4c588ea025","schema_version":"1.0","event_id":"sha256:c5ae7e6c84f93b46466007631bdfda7fd5f52309b41f41afbd5ccb4c588ea025"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/bundle.json","state_url":"https://pith.science/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/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":"2026-08-20T16:23:37Z","links":{"resolver":"https://pith.science/pith/J4NQHE6YMQHHY3AEOYCLBM55OE","bundle":"https://pith.science/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/bundle.json","state":"https://pith.science/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J4NQHE6YMQHHY3AEOYCLBM55OE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:J4NQHE6YMQHHY3AEOYCLBM55OE","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":"69b52c6d97a263e38ab5cec5024ffba4735f98a88247fcb6b787716be6524364","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-18T14:52:34Z","title_canon_sha256":"99ebdbd402aede67200b91794783ffbba2b83ef4743452d899c48722b9bb71a1"},"schema_version":"1.0","source":{"id":"2312.11255","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.11255","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"arxiv_version","alias_value":"2312.11255v2","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.11255","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_12","alias_value":"J4NQHE6YMQHH","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_16","alias_value":"J4NQHE6YMQHHY3AE","created_at":"2026-07-05T09:25:19Z"},{"alias_kind":"pith_short_8","alias_value":"J4NQHE6Y","created_at":"2026-07-05T09:25:19Z"}],"graph_snapshots":[{"event_id":"sha256:c5ae7e6c84f93b46466007631bdfda7fd5f52309b41f41afbd5ccb4c588ea025","target":"graph","created_at":"2026-07-05T09:25:19Z","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/2312.11255/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning-based control with safety guarantees usually requires real-time safety certification and modifications of possibly unsafe learning-based policies. The control barrier function (CBF) method uses a safety filter containing a constrained optimization problem to produce safe policies. However, finding a valid CBF for a general nonlinear system requires a complex function parameterization, which in general, makes the policy optimization problem difficult to solve in real time. For nonlinear systems with nonlinear state constraints, this paper proposes the novel concept of state-action CBFs","authors_text":"Bart De Schutter, Kanghui He, Shengling Shi, Ton van den Boom","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-18T14:52:34Z","title":"State-action control barrier functions: Imposing safety on learning-based control with low online computational costs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.11255","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":"sha256:4ba926080dd91bbea3dff0ba20d49cb974260aedd08489651e2204e29f711c9f","target":"record","created_at":"2026-07-05T09:25:19Z","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":"69b52c6d97a263e38ab5cec5024ffba4735f98a88247fcb6b787716be6524364","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-12-18T14:52:34Z","title_canon_sha256":"99ebdbd402aede67200b91794783ffbba2b83ef4743452d899c48722b9bb71a1"},"schema_version":"1.0","source":{"id":"2312.11255","kind":"arxiv","version":2}},"canonical_sha256":"4f1b0393d8640e7c6c047604b0b3bd7117201caec9600f83d90b64f489a7c1e7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4f1b0393d8640e7c6c047604b0b3bd7117201caec9600f83d90b64f489a7c1e7","first_computed_at":"2026-07-05T09:25:19.499831Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:25:19.499831Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ptsfaIQ1IsFDKJsi3JTcWce8j2TYwW+0zP91KLw9CfnLP5yo3LBMgYq2/o4j7k/Vk3zRIe5L5ShJ99fop4oiBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:25:19.500338Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.11255","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4ba926080dd91bbea3dff0ba20d49cb974260aedd08489651e2204e29f711c9f","sha256:c5ae7e6c84f93b46466007631bdfda7fd5f52309b41f41afbd5ccb4c588ea025"],"state_sha256":"1fa96320b5ee26593c0f18c2083f3be25c45cd52f0c4bb489e6cfd572a12d3a1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6QQeLrbmXufsGV2ip2LWJH9FlFSOs+R7VQUzWjkGLdxuyqfj/Ttdiij+m7+d/rh1Kkq6QbXnxlIcHVUJk/RBBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T16:23:37.811591Z","bundle_sha256":"108b59606ca7f0476ffc2886363a9a35387f87ac23b4938dcd278c5c70b0fc7e"}}