{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:K5TLELXLF3IFTMGYNWRCZDEHF6","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":"23a4117e3fb589e3e0cb7c175f5ec30b09140476826d965b1922efff11dd6c90","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-30T06:04:31Z","title_canon_sha256":"7d082eefcf92f6845e185aad23ef6488146dd2bf94e0ffadf5b249429bd66a23"},"schema_version":"1.0","source":{"id":"2004.14594","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.14594","created_at":"2026-07-05T00:59:27Z"},{"alias_kind":"arxiv_version","alias_value":"2004.14594v1","created_at":"2026-07-05T00:59:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.14594","created_at":"2026-07-05T00:59:27Z"},{"alias_kind":"pith_short_12","alias_value":"K5TLELXLF3IF","created_at":"2026-07-05T00:59:27Z"},{"alias_kind":"pith_short_16","alias_value":"K5TLELXLF3IFTMGY","created_at":"2026-07-05T00:59:27Z"},{"alias_kind":"pith_short_8","alias_value":"K5TLELXL","created_at":"2026-07-05T00:59:27Z"}],"graph_snapshots":[{"event_id":"sha256:9de0c678ed74395324e8377b12e6a207a9faf5bbd373b1a8019b6d2e1fe446fe","target":"graph","created_at":"2026-07-05T00:59:27Z","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/2004.14594/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present $\\mathcal{L}_1$-$\\mathcal{GP}$, an architecture based on $\\mathcal{L}_1$ adaptive control and Gaussian Process Regression (GPR) for safe simultaneous control and learning. On one hand, the $\\mathcal{L}_1$ adaptive control provides stability and transient performance guarantees, which allows for GPR to efficiently and safely learn the uncertain dynamics. On the other hand, the learned dynamics can be conveniently incorporated into the $\\mathcal{L}_1$ control architecture without sacrificing robustness and tracking performance. Subsequently, the learned dynamics can lead to less conse","authors_text":"Aditya Gahlawat, Andrew Patterson, Evangelos A. Theodorou, Naira Hovakimyan, Pan Zhao","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-30T06:04:31Z","title":"$\\mathcal{L}_1$-$\\mathcal{GP}$: $\\mathcal{L}_1$ Adaptive Control with Bayesian Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.14594","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":"sha256:2fe74b0262a7d9b35082407714edf887846843b9f54cc3720fdccee82caa5d9b","target":"record","created_at":"2026-07-05T00:59:27Z","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":"23a4117e3fb589e3e0cb7c175f5ec30b09140476826d965b1922efff11dd6c90","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-30T06:04:31Z","title_canon_sha256":"7d082eefcf92f6845e185aad23ef6488146dd2bf94e0ffadf5b249429bd66a23"},"schema_version":"1.0","source":{"id":"2004.14594","kind":"arxiv","version":1}},"canonical_sha256":"5766b22eeb2ed059b0d86da22c8c872f84805e214fa2c9791db81e7d321f477d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5766b22eeb2ed059b0d86da22c8c872f84805e214fa2c9791db81e7d321f477d","first_computed_at":"2026-07-05T00:59:27.742122Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:59:27.742122Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"M7zjRUMsUWpR9HESaTFR8L1L0eDDeRwJAjZXj5lyPSd/QcSFsfk/YeH87O9pALYNDUe+1SL9Ord9FEmOwrXRBw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:59:27.742475Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.14594","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2fe74b0262a7d9b35082407714edf887846843b9f54cc3720fdccee82caa5d9b","sha256:9de0c678ed74395324e8377b12e6a207a9faf5bbd373b1a8019b6d2e1fe446fe"],"state_sha256":"b0d4c7bde571d313db4dd295b587c6a3bc91d0555d4a0c54581e0d39de751e2a"}