{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:PCVDRKFLQUAHGZXQ5D4SMGZYEF","short_pith_number":"pith:PCVDRKFL","canonical_record":{"source":{"id":"1803.04065","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-11T23:56:16Z","cross_cats_sorted":[],"title_canon_sha256":"d8d1dbe74da7db7543ef71b07cfbadb6969377969c69f3e418012c15a26d59be","abstract_canon_sha256":"bb22470bc7b2388ce7260448f0b45c66b7018420156e3cba16dc10cf14ec82db"},"schema_version":"1.0"},"canonical_sha256":"78aa38a8ab85007366f0e8f9261b38216984157b4ec04efe32070a8110e36ec2","source":{"kind":"arxiv","id":"1803.04065","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.04065","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"arxiv_version","alias_value":"1803.04065v1","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.04065","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"pith_short_12","alias_value":"PCVDRKFLQUAH","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_16","alias_value":"PCVDRKFLQUAHGZXQ","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_8","alias_value":"PCVDRKFL","created_at":"2026-05-18T12:32:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:PCVDRKFLQUAHGZXQ5D4SMGZYEF","target":"record","payload":{"canonical_record":{"source":{"id":"1803.04065","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-11T23:56:16Z","cross_cats_sorted":[],"title_canon_sha256":"d8d1dbe74da7db7543ef71b07cfbadb6969377969c69f3e418012c15a26d59be","abstract_canon_sha256":"bb22470bc7b2388ce7260448f0b45c66b7018420156e3cba16dc10cf14ec82db"},"schema_version":"1.0"},"canonical_sha256":"78aa38a8ab85007366f0e8f9261b38216984157b4ec04efe32070a8110e36ec2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:21:32.741709Z","signature_b64":"K5PMJU+FjBTDwr67ao+pRlfmpqFw92WDItGfyLot5tNhm9B77HBv7irXZjnHyFroj3AF9J0dHnytOJIA97S7DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"78aa38a8ab85007366f0e8f9261b38216984157b4ec04efe32070a8110e36ec2","last_reissued_at":"2026-05-18T00:21:32.740972Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:21:32.740972Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1803.04065","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":"2026-05-18T00:21:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WLjslbtH1DiLErCTcr4Ruzkrcv+/KrB0hI9iVEkCyfNpOHhGyS/q64O/tN+CAiSZjlRMQggYZaj8BBisNxOFCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T12:50:44.713782Z"},"content_sha256":"9b430eeeca2542cee132cb0c76d444e83370ca90caa7e4e6bf60744671b0bbe5","schema_version":"1.0","event_id":"sha256:9b430eeeca2542cee132cb0c76d444e83370ca90caa7e4e6bf60744671b0bbe5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:PCVDRKFLQUAHGZXQ5D4SMGZYEF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Experience Recommendation for Long Term Safe Learning-based Model Predictive Control in Changing Operating Conditions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Angela P. Schoellig, Christopher D. McKinnon","submitted_at":"2018-03-11T23:56:16Z","abstract_excerpt":"Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the unknown parts are static or slowly changing. This limits them to static or slowly changing environments. However, in the real world, a robot may experience various unknown conditions. This paper presents a method to extend an existing single mode GP-based safe learning controller to learn an increasing number of non-linear models for the robot dynamics. We s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.04065","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":""},"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":"2026-05-18T00:21:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NHmSr1q64kQLAG63V7wrDRPwVluVehUE6pMlf81E8Wvcci1JlHzh6/mg4hvw89ETsgZIw96NATay+kx3q2K9Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T12:50:44.714128Z"},"content_sha256":"5aa88b7599b175478cdcf62252d9d0963ae885ab780b4b08127319dd86c1f098","schema_version":"1.0","event_id":"sha256:5aa88b7599b175478cdcf62252d9d0963ae885ab780b4b08127319dd86c1f098"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/bundle.json","state_url":"https://pith.science/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/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":"2026-06-01T12:50:44Z","links":{"resolver":"https://pith.science/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF","bundle":"https://pith.science/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/bundle.json","state":"https://pith.science/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PCVDRKFLQUAHGZXQ5D4SMGZYEF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:PCVDRKFLQUAHGZXQ5D4SMGZYEF","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":"bb22470bc7b2388ce7260448f0b45c66b7018420156e3cba16dc10cf14ec82db","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-11T23:56:16Z","title_canon_sha256":"d8d1dbe74da7db7543ef71b07cfbadb6969377969c69f3e418012c15a26d59be"},"schema_version":"1.0","source":{"id":"1803.04065","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.04065","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"arxiv_version","alias_value":"1803.04065v1","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.04065","created_at":"2026-05-18T00:21:32Z"},{"alias_kind":"pith_short_12","alias_value":"PCVDRKFLQUAH","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_16","alias_value":"PCVDRKFLQUAHGZXQ","created_at":"2026-05-18T12:32:43Z"},{"alias_kind":"pith_short_8","alias_value":"PCVDRKFL","created_at":"2026-05-18T12:32:43Z"}],"graph_snapshots":[{"event_id":"sha256:5aa88b7599b175478cdcf62252d9d0963ae885ab780b4b08127319dd86c1f098","target":"graph","created_at":"2026-05-18T00:21:32Z","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"},"paper":{"abstract_excerpt":"Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the unknown parts are static or slowly changing. This limits them to static or slowly changing environments. However, in the real world, a robot may experience various unknown conditions. This paper presents a method to extend an existing single mode GP-based safe learning controller to learn an increasing number of non-linear models for the robot dynamics. We s","authors_text":"Angela P. Schoellig, Christopher D. McKinnon","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-11T23:56:16Z","title":"Experience Recommendation for Long Term Safe Learning-based Model Predictive Control in Changing Operating Conditions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.04065","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":"sha256:9b430eeeca2542cee132cb0c76d444e83370ca90caa7e4e6bf60744671b0bbe5","target":"record","created_at":"2026-05-18T00:21:32Z","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":"bb22470bc7b2388ce7260448f0b45c66b7018420156e3cba16dc10cf14ec82db","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-11T23:56:16Z","title_canon_sha256":"d8d1dbe74da7db7543ef71b07cfbadb6969377969c69f3e418012c15a26d59be"},"schema_version":"1.0","source":{"id":"1803.04065","kind":"arxiv","version":1}},"canonical_sha256":"78aa38a8ab85007366f0e8f9261b38216984157b4ec04efe32070a8110e36ec2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"78aa38a8ab85007366f0e8f9261b38216984157b4ec04efe32070a8110e36ec2","first_computed_at":"2026-05-18T00:21:32.740972Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:21:32.740972Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"K5PMJU+FjBTDwr67ao+pRlfmpqFw92WDItGfyLot5tNhm9B77HBv7irXZjnHyFroj3AF9J0dHnytOJIA97S7DQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:21:32.741709Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.04065","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b430eeeca2542cee132cb0c76d444e83370ca90caa7e4e6bf60744671b0bbe5","sha256:5aa88b7599b175478cdcf62252d9d0963ae885ab780b4b08127319dd86c1f098"],"state_sha256":"889fbaabdccc3cb56dd2768d87b0f498fe1b21a00b0ef2bbb8409d9de089a9e1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3ZaFe/iLC/XHlQvnaOYHGagJinfo/CBzXkaZbP0nGpbv0eaVtGY5H0fPRUtWsHIHgMOZACXaPpjAJBPugB3MCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T12:50:44.716038Z","bundle_sha256":"464549b97914b7facf0844ce7832aef58f16d0fadba13292efe9877acb2cc994"}}