{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:UHZRGJNSM33EPBU4UNSQETDYDL","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":"19e2db9f0a46ff24272ceeda29a5fe529015d803905bcbdea7c08d940facb9a6","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T18:42:55Z","title_canon_sha256":"ab2000e3223311faf440f4ca8801e7f1bb31b5886584805486615265d79bf2fd"},"schema_version":"1.0","source":{"id":"2309.10874","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.10874","created_at":"2026-07-05T08:31:41Z"},{"alias_kind":"arxiv_version","alias_value":"2309.10874v2","created_at":"2026-07-05T08:31:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.10874","created_at":"2026-07-05T08:31:41Z"},{"alias_kind":"pith_short_12","alias_value":"UHZRGJNSM33E","created_at":"2026-07-05T08:31:41Z"},{"alias_kind":"pith_short_16","alias_value":"UHZRGJNSM33EPBU4","created_at":"2026-07-05T08:31:41Z"},{"alias_kind":"pith_short_8","alias_value":"UHZRGJNS","created_at":"2026-07-05T08:31:41Z"}],"graph_snapshots":[{"event_id":"sha256:7299916b01b2cc6878aab5d676efe8d432e8b70e905f2aa8928c4e48566ed98c","target":"graph","created_at":"2026-07-05T08:31:41Z","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/2309.10874/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value, value-at-risk, and conditional-value-at-risk of the trajectory cost, and the probability of failure in a sparse cost setting. The bounds hold, with user-specified probability, for any policy synthesis technique and can be seen as a post-design safety certification. Generating the bounds only requires sampling simulation rollouts, without assumptions on the distribu","authors_text":"Aaron O. Feldman, Joseph A. Vincent, Mac Schwager","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T18:42:55Z","title":"Guarantees on Robot System Performance Using Stochastic Simulation Rollouts"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10874","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:d7241e55ea006708cf08edd6426ee9e7a5d75602845619731608f5c6bb6f59fb","target":"record","created_at":"2026-07-05T08:31:41Z","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":"19e2db9f0a46ff24272ceeda29a5fe529015d803905bcbdea7c08d940facb9a6","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T18:42:55Z","title_canon_sha256":"ab2000e3223311faf440f4ca8801e7f1bb31b5886584805486615265d79bf2fd"},"schema_version":"1.0","source":{"id":"2309.10874","kind":"arxiv","version":2}},"canonical_sha256":"a1f31325b266f647869ca365024c781af243ff05237a9a8082482e8a20396678","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a1f31325b266f647869ca365024c781af243ff05237a9a8082482e8a20396678","first_computed_at":"2026-07-05T08:31:41.910937Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:31:41.910937Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4jSjevWe9b7/9vC7DU/GKeIIt2QkiC/SmCJbIMEZTtGlH7J9ZrAGSnPa8lOkUQVnH8qfhkD0uYcNOQicZdbVCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:31:41.911443Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.10874","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d7241e55ea006708cf08edd6426ee9e7a5d75602845619731608f5c6bb6f59fb","sha256:7299916b01b2cc6878aab5d676efe8d432e8b70e905f2aa8928c4e48566ed98c"],"state_sha256":"73f00e9bb12e833ed4f2069c476181ea1c719340b0c134707289a3ea69f271bb"}