{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:UESDDBAP7JG2KG754WGGXTPAW7","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":"b07c832693e09a828afb0cf73421d06fbd877d8465ae7360d978d7308f2c26aa","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-09-30T21:29:22Z","title_canon_sha256":"94870ee8037285d2ea57f492811967cd5c4e1ee13c1a29baf950d3f9e320463e"},"schema_version":"1.0","source":{"id":"1310.0063","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1310.0063","created_at":"2026-05-18T02:55:11Z"},{"alias_kind":"arxiv_version","alias_value":"1310.0063v2","created_at":"2026-05-18T02:55:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1310.0063","created_at":"2026-05-18T02:55:11Z"},{"alias_kind":"pith_short_12","alias_value":"UESDDBAP7JG2","created_at":"2026-05-18T12:28:02Z"},{"alias_kind":"pith_short_16","alias_value":"UESDDBAP7JG2KG75","created_at":"2026-05-18T12:28:02Z"},{"alias_kind":"pith_short_8","alias_value":"UESDDBAP","created_at":"2026-05-18T12:28:02Z"}],"graph_snapshots":[{"event_id":"sha256:e87d4e76574cb39af2b6bc832d08ae8d2b148d53655d2325c19ef5a6a61feb56","target":"graph","created_at":"2026-05-18T02:55:11Z","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":"Online approximation of an optimal station keeping strategy for a fully actuated six degrees-of-freedom autonomous underwater vehicle is considered. The developed controller is an approximation of the solution to a two player zero-sum game where the controller is the minimizing player and an external disturbance is the maximizing player. The solution is approximated using a reinforcement learning-based actor-critic framework. The result guarantees uniformly ultimately bounded (UUB) convergence of the states and UUB convergence of the approximated policies to the optimal polices without the req","authors_text":"Patrick Walters, Warren E. Dixon","cross_cats":["cs.RO","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-09-30T21:29:22Z","title":"Online Approximate Optimal Station Keeping of an Autonomous Underwater Vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1310.0063","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":"sha256:5672681c1d71f9c02a85d732e45fe4b8b5f775b7ea9d1f15e1d35fb135c9f76b","target":"record","created_at":"2026-05-18T02:55:11Z","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":"b07c832693e09a828afb0cf73421d06fbd877d8465ae7360d978d7308f2c26aa","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-09-30T21:29:22Z","title_canon_sha256":"94870ee8037285d2ea57f492811967cd5c4e1ee13c1a29baf950d3f9e320463e"},"schema_version":"1.0","source":{"id":"1310.0063","kind":"arxiv","version":2}},"canonical_sha256":"a12431840ffa4da51bfde58c6bcde0b7e90b68de93969966bd1d8953800912d0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a12431840ffa4da51bfde58c6bcde0b7e90b68de93969966bd1d8953800912d0","first_computed_at":"2026-05-18T02:55:11.116551Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:55:11.116551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cOZloc6quSfiBj02q/mu3Z2vM6e1Vwyk8KxPrqiC3jGHDegWfR7xj4nrahEmVBi54NKdajt5bQstA8qJ3eHEAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:55:11.117175Z","signed_message":"canonical_sha256_bytes"},"source_id":"1310.0063","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5672681c1d71f9c02a85d732e45fe4b8b5f775b7ea9d1f15e1d35fb135c9f76b","sha256:e87d4e76574cb39af2b6bc832d08ae8d2b148d53655d2325c19ef5a6a61feb56"],"state_sha256":"edd6c2d68e14261e82d458a3edba744b86199fba6a5f5f9dbc0fb53d65b6e71a"}