{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:OPM2N5KVI73AKSYCEIVARL7S5Y","short_pith_number":"pith:OPM2N5KV","canonical_record":{"source":{"id":"1911.06556","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-15T10:34:45Z","cross_cats_sorted":["cs.LG","cs.NE","cs.SY"],"title_canon_sha256":"d5e5d345a66f3459c0a31f448e9febad43decd1aeacfd162f3856412f2b12017","abstract_canon_sha256":"36c7ed1500720ac74e011a6e2d311742395e7d6e9b283ca1c478e4a84cdfcc93"},"schema_version":"1.0"},"canonical_sha256":"73d9a6f55547f6054b02222a08aff2ee24185a0dc4d9b1759f309f7473bfe15d","source":{"kind":"arxiv","id":"1911.06556","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.06556","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"arxiv_version","alias_value":"1911.06556v2","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.06556","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_12","alias_value":"OPM2N5KVI73A","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_16","alias_value":"OPM2N5KVI73AKSYC","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_8","alias_value":"OPM2N5KV","created_at":"2026-07-05T00:20:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:OPM2N5KVI73AKSYCEIVARL7S5Y","target":"record","payload":{"canonical_record":{"source":{"id":"1911.06556","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-15T10:34:45Z","cross_cats_sorted":["cs.LG","cs.NE","cs.SY"],"title_canon_sha256":"d5e5d345a66f3459c0a31f448e9febad43decd1aeacfd162f3856412f2b12017","abstract_canon_sha256":"36c7ed1500720ac74e011a6e2d311742395e7d6e9b283ca1c478e4a84cdfcc93"},"schema_version":"1.0"},"canonical_sha256":"73d9a6f55547f6054b02222a08aff2ee24185a0dc4d9b1759f309f7473bfe15d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:20:02.777455Z","signature_b64":"67SMvzkYERvMUmnpVnIeytQBzzAoMW1KFQ75UwdTKvlu6GLUGn74PTeiRNuuScYEQJiBvPlKaZD5iYr6H81DDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"73d9a6f55547f6054b02222a08aff2ee24185a0dc4d9b1759f309f7473bfe15d","last_reissued_at":"2026-07-05T00:20:02.776914Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:20:02.776914Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1911.06556","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":"2026-07-05T00:20:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7onVxxZ0v7c5pqTiHc3gM5cuWReRiS7JnvCW+TIdZZJPFQtgjIA6IApQebGd6dpP3tRKX/7U6ilalwqg4vXwDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:06:30.120550Z"},"content_sha256":"08673b840add686e9b1b0378d1682f72e250f20c53f0bb5e9ff4dd31b884fc01","schema_version":"1.0","event_id":"sha256:08673b840add686e9b1b0378d1682f72e250f20c53f0bb5e9ff4dd31b884fc01"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:OPM2N5KVI73AKSYCEIVARL7S5Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safe Interactive Model-Based Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.NE","cs.SY"],"primary_cat":"eess.SY","authors_text":"Alessio Quaglino, Faustino Gomez, Jan Koutn\\'ik, Jonathan Masci, Marco Gallieri, Nihat Engin Toklu, Seyed Sina Mirrazavi Salehian","submitted_at":"2019-11-15T10:34:45Z","abstract_excerpt":"Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system model while operating on the real environment. SiMBL is composed of the following trainable components: a Lyapunov function, which determines a safe set; a safe control policy; and a Bayesian RNN forward model. A min-max control framework, based on alternate minimisation and backpropagation through the forward model, is used for the offline computation of the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.06556","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/1911.06556/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":"2026-07-05T00:20:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jjB+eAZwfcnx3RbIEPnl7CEUZfR+l1j1VkpCmnVZK75ukuwH7ZgloWCJzawyifknjiTDOvmhwE/Xm99Ra8L/BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:06:30.120935Z"},"content_sha256":"f79bb0baffea09b55d3d0b96f3c9a2ef7e723eafc600e74f7acc4f8d6136e0d3","schema_version":"1.0","event_id":"sha256:f79bb0baffea09b55d3d0b96f3c9a2ef7e723eafc600e74f7acc4f8d6136e0d3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/bundle.json","state_url":"https://pith.science/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/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":"2026-07-07T14:06:30Z","links":{"resolver":"https://pith.science/pith/OPM2N5KVI73AKSYCEIVARL7S5Y","bundle":"https://pith.science/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/bundle.json","state":"https://pith.science/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OPM2N5KVI73AKSYCEIVARL7S5Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:OPM2N5KVI73AKSYCEIVARL7S5Y","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":"36c7ed1500720ac74e011a6e2d311742395e7d6e9b283ca1c478e4a84cdfcc93","cross_cats_sorted":["cs.LG","cs.NE","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-15T10:34:45Z","title_canon_sha256":"d5e5d345a66f3459c0a31f448e9febad43decd1aeacfd162f3856412f2b12017"},"schema_version":"1.0","source":{"id":"1911.06556","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.06556","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"arxiv_version","alias_value":"1911.06556v2","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.06556","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_12","alias_value":"OPM2N5KVI73A","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_16","alias_value":"OPM2N5KVI73AKSYC","created_at":"2026-07-05T00:20:02Z"},{"alias_kind":"pith_short_8","alias_value":"OPM2N5KV","created_at":"2026-07-05T00:20:02Z"}],"graph_snapshots":[{"event_id":"sha256:f79bb0baffea09b55d3d0b96f3c9a2ef7e723eafc600e74f7acc4f8d6136e0d3","target":"graph","created_at":"2026-07-05T00:20:02Z","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/1911.06556/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system model while operating on the real environment. SiMBL is composed of the following trainable components: a Lyapunov function, which determines a safe set; a safe control policy; and a Bayesian RNN forward model. A min-max control framework, based on alternate minimisation and backpropagation through the forward model, is used for the offline computation of the ","authors_text":"Alessio Quaglino, Faustino Gomez, Jan Koutn\\'ik, Jonathan Masci, Marco Gallieri, Nihat Engin Toklu, Seyed Sina Mirrazavi Salehian","cross_cats":["cs.LG","cs.NE","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-15T10:34:45Z","title":"Safe Interactive Model-Based Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.06556","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":"sha256:08673b840add686e9b1b0378d1682f72e250f20c53f0bb5e9ff4dd31b884fc01","target":"record","created_at":"2026-07-05T00:20:02Z","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":"36c7ed1500720ac74e011a6e2d311742395e7d6e9b283ca1c478e4a84cdfcc93","cross_cats_sorted":["cs.LG","cs.NE","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-15T10:34:45Z","title_canon_sha256":"d5e5d345a66f3459c0a31f448e9febad43decd1aeacfd162f3856412f2b12017"},"schema_version":"1.0","source":{"id":"1911.06556","kind":"arxiv","version":2}},"canonical_sha256":"73d9a6f55547f6054b02222a08aff2ee24185a0dc4d9b1759f309f7473bfe15d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"73d9a6f55547f6054b02222a08aff2ee24185a0dc4d9b1759f309f7473bfe15d","first_computed_at":"2026-07-05T00:20:02.776914Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:20:02.776914Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"67SMvzkYERvMUmnpVnIeytQBzzAoMW1KFQ75UwdTKvlu6GLUGn74PTeiRNuuScYEQJiBvPlKaZD5iYr6H81DDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:20:02.777455Z","signed_message":"canonical_sha256_bytes"},"source_id":"1911.06556","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:08673b840add686e9b1b0378d1682f72e250f20c53f0bb5e9ff4dd31b884fc01","sha256:f79bb0baffea09b55d3d0b96f3c9a2ef7e723eafc600e74f7acc4f8d6136e0d3"],"state_sha256":"de5b61a92b936a906dd7c750e33146b462f0759dd46aa25c142fe94f228b4fe3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n2hj/RzHcP9EUKLxh+wXft6OMAcujnyCP0UoXcwT5FxzCRxzyk6S6zWYWyfmclYuFnX25MH9oJZ/ts3ufxHlAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T14:06:30.122923Z","bundle_sha256":"7c4f21e59fa819385aa1fea089ab9fdc96010415b0fae0bccb9ba6b7fd0eff38"}}