{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:JBYL72RJEJEO4YMFXFDM2B66FO","short_pith_number":"pith:JBYL72RJ","canonical_record":{"source":{"id":"2005.05894","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T16:13:27Z","cross_cats_sorted":[],"title_canon_sha256":"712163b8f4ec7e53f319df33d8411de8226749d6b5701893a8b5fc39c474b9ba","abstract_canon_sha256":"cf766dc19d5b2147665cf5d42bd01b73d62d6e63503735b830c5580b15945a0a"},"schema_version":"1.0"},"canonical_sha256":"4870bfea292248ee6185b946cd07de2b87735e6bcff4c2aba11468e33aa962fb","source":{"kind":"arxiv","id":"2005.05894","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.05894","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2005.05894v2","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.05894","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"JBYL72RJEJEO","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"JBYL72RJEJEO4YMF","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"JBYL72RJ","created_at":"2026-07-05T02:27:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:JBYL72RJEJEO4YMFXFDM2B66FO","target":"record","payload":{"canonical_record":{"source":{"id":"2005.05894","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T16:13:27Z","cross_cats_sorted":[],"title_canon_sha256":"712163b8f4ec7e53f319df33d8411de8226749d6b5701893a8b5fc39c474b9ba","abstract_canon_sha256":"cf766dc19d5b2147665cf5d42bd01b73d62d6e63503735b830c5580b15945a0a"},"schema_version":"1.0"},"canonical_sha256":"4870bfea292248ee6185b946cd07de2b87735e6bcff4c2aba11468e33aa962fb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:27:20.776299Z","signature_b64":"j+cZYWAE6iyA15CADtiViRAZWpANa2+OsW2Px/4oMk6fFEp+QmH6XIiVrPjJhpq3hgRoQqcUL/qhe3SHRUrcDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4870bfea292248ee6185b946cd07de2b87735e6bcff4c2aba11468e33aa962fb","last_reissued_at":"2026-07-05T02:27:20.775788Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:27:20.775788Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.05894","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":"2026-07-05T02:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T/kgl6Dv/LTtAvAoLx498jnmrorNKWAUZRicTuuA2vck4R4N59ZIpGZR08w8Lrh3jq0K11PeBwtnhC1qeZwIAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:20:50.775221Z"},"content_sha256":"b3d4a8aeed6ab38cc2f4109c415110eb21b357a0a2479b496c7543b898226e8e","schema_version":"1.0","event_id":"sha256:b3d4a8aeed6ab38cc2f4109c415110eb21b357a0a2479b496c7543b898226e8e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:JBYL72RJEJEO4YMFXFDM2B66FO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Active Inference for Integrated State-Estimation, Control, and Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bruno Lacerda, Mohamed Baioumy, Nick Hawes, Paul Duckworth","submitted_at":"2020-05-12T16:13:27Z","abstract_excerpt":"This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent in computational neuroscience as a theory of the brain, where behaviour arises from minimizing variational free-energy. The robotic manipulator shows adaptive and robust behaviour compared to state-of-the-art methods. Additionally, we show the exact relationship to classic methods such as PID control. Finally, we show that by learning a temporal parameter and model variances, our approach can deal with unmodelled dy"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.05894","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/2005.05894/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":"2026-07-05T02:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xQP8j9fZ2muGdvpRxo4xqbzIgZ7poxQwJsDQmZdKKAZGRuvHC2Q1ySC4bsxVSYOgO0FwhAYFER4Cm2QuCi7HAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:20:50.775612Z"},"content_sha256":"3b238a7a7b8175e4c01857500027570f0bce8eca7f4eff7093a7d864c34c0086","schema_version":"1.0","event_id":"sha256:3b238a7a7b8175e4c01857500027570f0bce8eca7f4eff7093a7d864c34c0086"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JBYL72RJEJEO4YMFXFDM2B66FO/bundle.json","state_url":"https://pith.science/pith/JBYL72RJEJEO4YMFXFDM2B66FO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JBYL72RJEJEO4YMFXFDM2B66FO/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":"2026-07-06T23:20:50Z","links":{"resolver":"https://pith.science/pith/JBYL72RJEJEO4YMFXFDM2B66FO","bundle":"https://pith.science/pith/JBYL72RJEJEO4YMFXFDM2B66FO/bundle.json","state":"https://pith.science/pith/JBYL72RJEJEO4YMFXFDM2B66FO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JBYL72RJEJEO4YMFXFDM2B66FO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:JBYL72RJEJEO4YMFXFDM2B66FO","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":"cf766dc19d5b2147665cf5d42bd01b73d62d6e63503735b830c5580b15945a0a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T16:13:27Z","title_canon_sha256":"712163b8f4ec7e53f319df33d8411de8226749d6b5701893a8b5fc39c474b9ba"},"schema_version":"1.0","source":{"id":"2005.05894","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.05894","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2005.05894v2","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.05894","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"JBYL72RJEJEO","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"JBYL72RJEJEO4YMF","created_at":"2026-07-05T02:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"JBYL72RJ","created_at":"2026-07-05T02:27:20Z"}],"graph_snapshots":[{"event_id":"sha256:3b238a7a7b8175e4c01857500027570f0bce8eca7f4eff7093a7d864c34c0086","target":"graph","created_at":"2026-07-05T02:27:20Z","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/2005.05894/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent in computational neuroscience as a theory of the brain, where behaviour arises from minimizing variational free-energy. The robotic manipulator shows adaptive and robust behaviour compared to state-of-the-art methods. Additionally, we show the exact relationship to classic methods such as PID control. Finally, we show that by learning a temporal parameter and model variances, our approach can deal with unmodelled dy","authors_text":"Bruno Lacerda, Mohamed Baioumy, Nick Hawes, Paul Duckworth","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T16:13:27Z","title":"Active Inference for Integrated State-Estimation, Control, and Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.05894","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:b3d4a8aeed6ab38cc2f4109c415110eb21b357a0a2479b496c7543b898226e8e","target":"record","created_at":"2026-07-05T02:27:20Z","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":"cf766dc19d5b2147665cf5d42bd01b73d62d6e63503735b830c5580b15945a0a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T16:13:27Z","title_canon_sha256":"712163b8f4ec7e53f319df33d8411de8226749d6b5701893a8b5fc39c474b9ba"},"schema_version":"1.0","source":{"id":"2005.05894","kind":"arxiv","version":2}},"canonical_sha256":"4870bfea292248ee6185b946cd07de2b87735e6bcff4c2aba11468e33aa962fb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4870bfea292248ee6185b946cd07de2b87735e6bcff4c2aba11468e33aa962fb","first_computed_at":"2026-07-05T02:27:20.775788Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:27:20.775788Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"j+cZYWAE6iyA15CADtiViRAZWpANa2+OsW2Px/4oMk6fFEp+QmH6XIiVrPjJhpq3hgRoQqcUL/qhe3SHRUrcDg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:27:20.776299Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.05894","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b3d4a8aeed6ab38cc2f4109c415110eb21b357a0a2479b496c7543b898226e8e","sha256:3b238a7a7b8175e4c01857500027570f0bce8eca7f4eff7093a7d864c34c0086"],"state_sha256":"9960026229f8cd81facf7ae11891e5f7448229fc0754357540e2dfb7b2dff733"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rQNpJ+V4oHmZtHxbXxZUsMhMFLQIawvT2+EhqPtHzxufP4D+cfhd3v2AWMn92XQ0z74SlvIpPDEDFHtkkvJWDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:20:50.778329Z","bundle_sha256":"55db50cc6740893e8c040a7f5634f830d5bf8cbf607313d9cc67c8433784bc29"}}