{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:JJEDH7B6SUOGREOCYLLF4CG4AO","short_pith_number":"pith:JJEDH7B6","canonical_record":{"source":{"id":"2411.00107","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-31T18:02:30Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"b8f176aff25b32541d43c1f272b6fbd6899feae9906c0a4b75ad563721749349","abstract_canon_sha256":"4c509ce8dc2eb78d44e6f4d4b7f164d527500053e0f324c2c79f7a3471af4ace"},"schema_version":"1.0"},"canonical_sha256":"4a4833fc3e951c6891c2c2d65e08dc03bc7a0c900ccd627392bafae71a88ff63","source":{"kind":"arxiv","id":"2411.00107","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.00107","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"arxiv_version","alias_value":"2411.00107v2","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.00107","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_12","alias_value":"JJEDH7B6SUOG","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_16","alias_value":"JJEDH7B6SUOGREOC","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_8","alias_value":"JJEDH7B6","created_at":"2026-07-05T11:41:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:JJEDH7B6SUOGREOCYLLF4CG4AO","target":"record","payload":{"canonical_record":{"source":{"id":"2411.00107","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-31T18:02:30Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"b8f176aff25b32541d43c1f272b6fbd6899feae9906c0a4b75ad563721749349","abstract_canon_sha256":"4c509ce8dc2eb78d44e6f4d4b7f164d527500053e0f324c2c79f7a3471af4ace"},"schema_version":"1.0"},"canonical_sha256":"4a4833fc3e951c6891c2c2d65e08dc03bc7a0c900ccd627392bafae71a88ff63","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:41:36.304374Z","signature_b64":"zGvG4p6aTd8WUVQjIAcoBLghZm38l6Efjj7pUoe2mo97TES9Tfa6jG2Z08nL2q1HMTfLd5DJQOU05ovTXB65Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4a4833fc3e951c6891c2c2d65e08dc03bc7a0c900ccd627392bafae71a88ff63","last_reissued_at":"2026-07-05T11:41:36.303791Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:41:36.303791Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.00107","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":"2026-07-05T11:41:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ueN3dglQ71NzSJb41Cv2kJBkm4M00vtw0be3xdLgmLtNQ8ooqctcUVVSWd+FNENgQbFoFGDNQwcHAYULKFDUBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:03:41.929331Z"},"content_sha256":"3cbebccf93997fab25d4127ee0ed35f446145203c3a3ad8f75790abbc8968850","schema_version":"1.0","event_id":"sha256:3cbebccf93997fab25d4127ee0ed35f446145203c3a3ad8f75790abbc8968850"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:JJEDH7B6SUOGREOCYLLF4CG4AO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"First, Learn What You Don't Know: Active Information Gathering for Driving at the Limits of Handling","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Alexander Davydov, Franck Djeumou, John Subosits, Makoto Suminaka, Marcus Greiff, Michael Thompson, Thomas Lew","submitted_at":"2024-10-31T18:02:30Z","abstract_excerpt":"Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable simultaneous learning and control. For example, a controller on a vehicle executing highly dynamic maneuvers--such as drifting to avoid an obstacle--may push the vehicle's tires to their friction limits, destabilizing the vehicle and allowing modeling errors to quickly compound and cause a loss of control. To address this challenge, we present an active inform"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.00107","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/2411.00107/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":"2026-07-05T11:41:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bjRv7yfaWZNcK3iGFp2mK0vHMJybv8n4aXkaQjoIcJ8nSPOw9lUyldHefh5yxYOjDm3bphLViW5jqgN63UMhCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:03:41.929946Z"},"content_sha256":"b397cd2840767db2d8471b9be061da840726e8093f16d51677cc5ba100a5c046","schema_version":"1.0","event_id":"sha256:b397cd2840767db2d8471b9be061da840726e8093f16d51677cc5ba100a5c046"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/bundle.json","state_url":"https://pith.science/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/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":"2026-08-08T18:03:41Z","links":{"resolver":"https://pith.science/pith/JJEDH7B6SUOGREOCYLLF4CG4AO","bundle":"https://pith.science/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/bundle.json","state":"https://pith.science/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JJEDH7B6SUOGREOCYLLF4CG4AO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:JJEDH7B6SUOGREOCYLLF4CG4AO","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":"4c509ce8dc2eb78d44e6f4d4b7f164d527500053e0f324c2c79f7a3471af4ace","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-31T18:02:30Z","title_canon_sha256":"b8f176aff25b32541d43c1f272b6fbd6899feae9906c0a4b75ad563721749349"},"schema_version":"1.0","source":{"id":"2411.00107","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.00107","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"arxiv_version","alias_value":"2411.00107v2","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.00107","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_12","alias_value":"JJEDH7B6SUOG","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_16","alias_value":"JJEDH7B6SUOGREOC","created_at":"2026-07-05T11:41:36Z"},{"alias_kind":"pith_short_8","alias_value":"JJEDH7B6","created_at":"2026-07-05T11:41:36Z"}],"graph_snapshots":[{"event_id":"sha256:b397cd2840767db2d8471b9be061da840726e8093f16d51677cc5ba100a5c046","target":"graph","created_at":"2026-07-05T11:41:36Z","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/2411.00107/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable simultaneous learning and control. For example, a controller on a vehicle executing highly dynamic maneuvers--such as drifting to avoid an obstacle--may push the vehicle's tires to their friction limits, destabilizing the vehicle and allowing modeling errors to quickly compound and cause a loss of control. To address this challenge, we present an active inform","authors_text":"Alexander Davydov, Franck Djeumou, John Subosits, Makoto Suminaka, Marcus Greiff, Michael Thompson, Thomas Lew","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-31T18:02:30Z","title":"First, Learn What You Don't Know: Active Information Gathering for Driving at the Limits of Handling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.00107","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":"sha256:3cbebccf93997fab25d4127ee0ed35f446145203c3a3ad8f75790abbc8968850","target":"record","created_at":"2026-07-05T11:41:36Z","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":"4c509ce8dc2eb78d44e6f4d4b7f164d527500053e0f324c2c79f7a3471af4ace","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-31T18:02:30Z","title_canon_sha256":"b8f176aff25b32541d43c1f272b6fbd6899feae9906c0a4b75ad563721749349"},"schema_version":"1.0","source":{"id":"2411.00107","kind":"arxiv","version":2}},"canonical_sha256":"4a4833fc3e951c6891c2c2d65e08dc03bc7a0c900ccd627392bafae71a88ff63","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4a4833fc3e951c6891c2c2d65e08dc03bc7a0c900ccd627392bafae71a88ff63","first_computed_at":"2026-07-05T11:41:36.303791Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:41:36.303791Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zGvG4p6aTd8WUVQjIAcoBLghZm38l6Efjj7pUoe2mo97TES9Tfa6jG2Z08nL2q1HMTfLd5DJQOU05ovTXB65Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:41:36.304374Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.00107","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cbebccf93997fab25d4127ee0ed35f446145203c3a3ad8f75790abbc8968850","sha256:b397cd2840767db2d8471b9be061da840726e8093f16d51677cc5ba100a5c046"],"state_sha256":"620022d8b0a1af9feeaba94e3a0dc0ed7984dda3aced2d13c917d0324cf4b6a1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DbkSU7okEoa09iC1fzQjwZvfOHLYVUYKULo1luRKtLpDHmQiTedPmcHh3JYq5aPdxTHJjwgVYVb8eHpO0TrVBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T18:03:41.934396Z","bundle_sha256":"9c7a21fbb603b22c4349aa994554777e11698d27e2a9b9532b5ecf9bb988606b"}}