{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KOJDJKR4GSUDNCY5T2ORGZKQDN","short_pith_number":"pith:KOJDJKR4","canonical_record":{"source":{"id":"2409.13817","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-20T18:00:08Z","cross_cats_sorted":[],"title_canon_sha256":"fadf023aa06598f8aa1acd692351139d285896e0250b178e53c74b00617618ec","abstract_canon_sha256":"22d300517e30dd454449ed4151b2153d2fcead09ca8f45cdd77758d85a545cdf"},"schema_version":"1.0"},"canonical_sha256":"539234aa3c34a8368b1d9e9d1365501b49706adccf03876320b672eaad2e8c82","source":{"kind":"arxiv","id":"2409.13817","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.13817","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"arxiv_version","alias_value":"2409.13817v1","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.13817","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_12","alias_value":"KOJDJKR4GSUD","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_16","alias_value":"KOJDJKR4GSUDNCY5","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_8","alias_value":"KOJDJKR4","created_at":"2026-07-05T09:10:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KOJDJKR4GSUDNCY5T2ORGZKQDN","target":"record","payload":{"canonical_record":{"source":{"id":"2409.13817","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-20T18:00:08Z","cross_cats_sorted":[],"title_canon_sha256":"fadf023aa06598f8aa1acd692351139d285896e0250b178e53c74b00617618ec","abstract_canon_sha256":"22d300517e30dd454449ed4151b2153d2fcead09ca8f45cdd77758d85a545cdf"},"schema_version":"1.0"},"canonical_sha256":"539234aa3c34a8368b1d9e9d1365501b49706adccf03876320b672eaad2e8c82","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:10:07.145981Z","signature_b64":"o5TAw3k0qNuZygCUGZo4sW6nAMcLs8ozt5Q2fzMJbZxmbBPliyksPLapr0AFyzUx1byqHT5bfxMTx4G6YdwNAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"539234aa3c34a8368b1d9e9d1365501b49706adccf03876320b672eaad2e8c82","last_reissued_at":"2026-07-05T09:10:07.145526Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:10:07.145526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.13817","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:10:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v63C5TX8/bTrXRxqrRc1VP2QYYHS83PDIyVEeERkSQqgkDx9G+QhB3hkShnoIf2c5kZ8ApVMpYaxTmk6laAxDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T08:17:52.113669Z"},"content_sha256":"9d4f298be3e8e85431721d0a1d043c4ca8b6713061a0d7067843f575ecbcb606","schema_version":"1.0","event_id":"sha256:9d4f298be3e8e85431721d0a1d043c4ca8b6713061a0d7067843f575ecbcb606"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KOJDJKR4GSUDNCY5T2ORGZKQDN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Differentiable Predictive Control for Robotics: A Data-Driven Predictive Safety Filter Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Draguna Vrabie, Jan Drgona, John Viljoen, Masayoshi Tomizuka, Sebastian East, Wenceslao Shaw Cortez","submitted_at":"2024-09-20T18:00:08Z","abstract_excerpt":"Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited computing resources. Differentiable Predictive Control (DPC) trains offline a neural network approximation of the parametric MPC problem leading to computationally efficient online control laws at the cost of losing safety guarantees. DPC requires a differentiable model, and performs poorly when poorly conditioned. In this paper we propose a system decompositio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.13817","kind":"arxiv","version":1},"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/2409.13817/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":"2026-07-05T09:10:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LdRdQ+srRoEjilOfATM78dJ5hQWl25OEgSIKvG4Z1hDVd31zk0tCRmC2iCm8OWwl7CFnpwkrJ35L5UDgVRglAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T08:17:52.114500Z"},"content_sha256":"7029412a5854992f00366286630d0b73d10ab3eb2791a10846005aa2ab70656b","schema_version":"1.0","event_id":"sha256:7029412a5854992f00366286630d0b73d10ab3eb2791a10846005aa2ab70656b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/bundle.json","state_url":"https://pith.science/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/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":"2026-08-04T08:17:52Z","links":{"resolver":"https://pith.science/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN","bundle":"https://pith.science/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/bundle.json","state":"https://pith.science/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KOJDJKR4GSUDNCY5T2ORGZKQDN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KOJDJKR4GSUDNCY5T2ORGZKQDN","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":"22d300517e30dd454449ed4151b2153d2fcead09ca8f45cdd77758d85a545cdf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-20T18:00:08Z","title_canon_sha256":"fadf023aa06598f8aa1acd692351139d285896e0250b178e53c74b00617618ec"},"schema_version":"1.0","source":{"id":"2409.13817","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.13817","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"arxiv_version","alias_value":"2409.13817v1","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.13817","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_12","alias_value":"KOJDJKR4GSUD","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_16","alias_value":"KOJDJKR4GSUDNCY5","created_at":"2026-07-05T09:10:07Z"},{"alias_kind":"pith_short_8","alias_value":"KOJDJKR4","created_at":"2026-07-05T09:10:07Z"}],"graph_snapshots":[{"event_id":"sha256:7029412a5854992f00366286630d0b73d10ab3eb2791a10846005aa2ab70656b","target":"graph","created_at":"2026-07-05T09:10:07Z","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/2409.13817/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited computing resources. Differentiable Predictive Control (DPC) trains offline a neural network approximation of the parametric MPC problem leading to computationally efficient online control laws at the cost of losing safety guarantees. DPC requires a differentiable model, and performs poorly when poorly conditioned. In this paper we propose a system decompositio","authors_text":"Draguna Vrabie, Jan Drgona, John Viljoen, Masayoshi Tomizuka, Sebastian East, Wenceslao Shaw Cortez","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-20T18:00:08Z","title":"Differentiable Predictive Control for Robotics: A Data-Driven Predictive Safety Filter Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.13817","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":"sha256:9d4f298be3e8e85431721d0a1d043c4ca8b6713061a0d7067843f575ecbcb606","target":"record","created_at":"2026-07-05T09:10:07Z","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":"22d300517e30dd454449ed4151b2153d2fcead09ca8f45cdd77758d85a545cdf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-20T18:00:08Z","title_canon_sha256":"fadf023aa06598f8aa1acd692351139d285896e0250b178e53c74b00617618ec"},"schema_version":"1.0","source":{"id":"2409.13817","kind":"arxiv","version":1}},"canonical_sha256":"539234aa3c34a8368b1d9e9d1365501b49706adccf03876320b672eaad2e8c82","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"539234aa3c34a8368b1d9e9d1365501b49706adccf03876320b672eaad2e8c82","first_computed_at":"2026-07-05T09:10:07.145526Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:10:07.145526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"o5TAw3k0qNuZygCUGZo4sW6nAMcLs8ozt5Q2fzMJbZxmbBPliyksPLapr0AFyzUx1byqHT5bfxMTx4G6YdwNAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:10:07.145981Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.13817","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9d4f298be3e8e85431721d0a1d043c4ca8b6713061a0d7067843f575ecbcb606","sha256:7029412a5854992f00366286630d0b73d10ab3eb2791a10846005aa2ab70656b"],"state_sha256":"7ad10c800b782b86e333a6f56a0155ec158ae5ccdbab3ab61db8245353f0df0c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ySBi4EAbU+GJug2Q/BJRG8+Ud/ONiBjkcDClrHM6iVfxVKlPW1egSoTLzMMTTUHM62/pO6Gkaengg5Sxs3TjBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T08:17:52.120003Z","bundle_sha256":"cc51f4cd87ba7486bb71a19445555d93e92a60c796396683c88ae8cb8140ad85"}}