{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:XKQZIPSVO2C5TIHZHLQUR2VR5T","short_pith_number":"pith:XKQZIPSV","canonical_record":{"source":{"id":"1709.04407","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-13T16:28:26Z","cross_cats_sorted":["cs.LG","cs.SY"],"title_canon_sha256":"82b75271226aae37bb6fd2e21331438a47e90e59264e8595f498f91c027cbca0","abstract_canon_sha256":"d2ed7b16243833f7a9fd3c31537b423d0facf6cd6cf15fae7885753cbd20579a"},"schema_version":"1.0"},"canonical_sha256":"baa1943e557685d9a0f93ae148eab1ecf81073a3b39ebd1114c9e7fc2aa7ded7","source":{"kind":"arxiv","id":"1709.04407","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.04407","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"arxiv_version","alias_value":"1709.04407v2","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.04407","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"pith_short_12","alias_value":"XKQZIPSVO2C5","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"XKQZIPSVO2C5TIHZ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"XKQZIPSV","created_at":"2026-05-18T12:31:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:XKQZIPSVO2C5TIHZHLQUR2VR5T","target":"record","payload":{"canonical_record":{"source":{"id":"1709.04407","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-13T16:28:26Z","cross_cats_sorted":["cs.LG","cs.SY"],"title_canon_sha256":"82b75271226aae37bb6fd2e21331438a47e90e59264e8595f498f91c027cbca0","abstract_canon_sha256":"d2ed7b16243833f7a9fd3c31537b423d0facf6cd6cf15fae7885753cbd20579a"},"schema_version":"1.0"},"canonical_sha256":"baa1943e557685d9a0f93ae148eab1ecf81073a3b39ebd1114c9e7fc2aa7ded7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:21:51.012731Z","signature_b64":"uALm1PQTyc3I7Un2EQtyfnMw+Yp7Y0ISTdZC+uwTuQzrhGcZq839PBa1NAZZemzmFj2bk6ia1p/s4bzRMLrUDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"baa1943e557685d9a0f93ae148eab1ecf81073a3b39ebd1114c9e7fc2aa7ded7","last_reissued_at":"2026-05-18T00:21:51.012120Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:21:51.012120Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.04407","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":"2026-05-18T00:21:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tznFSexIJW0SYv2Rjzp8BBxVrtREW95JiakvdZNBLeNG3HuLM493hgVZaMxKks8AW4yaXFvOuF2jCncKa7LcDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T03:10:19.432627Z"},"content_sha256":"a00da575960271785a4b27125f45c666b17b8269e77a14b3d949b8b0cbbdb14b","schema_version":"1.0","event_id":"sha256:a00da575960271785a4b27125f45c666b17b8269e77a14b3d949b8b0cbbdb14b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:XKQZIPSVO2C5TIHZHLQUR2VR5T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Inversion-Based Learning Approach for Improving Impromptu Trajectory Tracking of Robots with Non-Minimum Phase Dynamics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY"],"primary_cat":"cs.RO","authors_text":"Angela P. Schoellig, Mohamed K. Helwa, Siqi Zhou","submitted_at":"2017-09-13T16:28:26Z","abstract_excerpt":"This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking performance; however, these approaches are not directly applicable to non-minimum phase systems due to their inherent instability. In order to resolve the instability issue, existing methods have assumed that the system model is known and used pre-actuation or inverse approximation techniques. In this work, we propose an approach for learning a stable, approxim"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.04407","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":""},"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":"2026-05-18T00:21:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6klE/eoQQ43o+y77S5PG/91nvsxgy1sdiW4n0ohj8VEYlFa0E08rsrAdImCzJnXJa5ax7NkQWwC0NweXyv6VDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T03:10:19.432984Z"},"content_sha256":"85ee74cb7f4dfbfe6bc947f241d2193b401aa6080cd3d973ac370c7eaf7e07c8","schema_version":"1.0","event_id":"sha256:85ee74cb7f4dfbfe6bc947f241d2193b401aa6080cd3d973ac370c7eaf7e07c8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/bundle.json","state_url":"https://pith.science/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/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":"2026-06-01T03:10:19Z","links":{"resolver":"https://pith.science/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T","bundle":"https://pith.science/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/bundle.json","state":"https://pith.science/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XKQZIPSVO2C5TIHZHLQUR2VR5T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:XKQZIPSVO2C5TIHZHLQUR2VR5T","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":"d2ed7b16243833f7a9fd3c31537b423d0facf6cd6cf15fae7885753cbd20579a","cross_cats_sorted":["cs.LG","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-13T16:28:26Z","title_canon_sha256":"82b75271226aae37bb6fd2e21331438a47e90e59264e8595f498f91c027cbca0"},"schema_version":"1.0","source":{"id":"1709.04407","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.04407","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"arxiv_version","alias_value":"1709.04407v2","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.04407","created_at":"2026-05-18T00:21:51Z"},{"alias_kind":"pith_short_12","alias_value":"XKQZIPSVO2C5","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"XKQZIPSVO2C5TIHZ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"XKQZIPSV","created_at":"2026-05-18T12:31:56Z"}],"graph_snapshots":[{"event_id":"sha256:85ee74cb7f4dfbfe6bc947f241d2193b401aa6080cd3d973ac370c7eaf7e07c8","target":"graph","created_at":"2026-05-18T00:21:51Z","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":"This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking performance; however, these approaches are not directly applicable to non-minimum phase systems due to their inherent instability. In order to resolve the instability issue, existing methods have assumed that the system model is known and used pre-actuation or inverse approximation techniques. In this work, we propose an approach for learning a stable, approxim","authors_text":"Angela P. Schoellig, Mohamed K. Helwa, Siqi Zhou","cross_cats":["cs.LG","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-13T16:28:26Z","title":"An Inversion-Based Learning Approach for Improving Impromptu Trajectory Tracking of Robots with Non-Minimum Phase Dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.04407","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:a00da575960271785a4b27125f45c666b17b8269e77a14b3d949b8b0cbbdb14b","target":"record","created_at":"2026-05-18T00:21:51Z","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":"d2ed7b16243833f7a9fd3c31537b423d0facf6cd6cf15fae7885753cbd20579a","cross_cats_sorted":["cs.LG","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-13T16:28:26Z","title_canon_sha256":"82b75271226aae37bb6fd2e21331438a47e90e59264e8595f498f91c027cbca0"},"schema_version":"1.0","source":{"id":"1709.04407","kind":"arxiv","version":2}},"canonical_sha256":"baa1943e557685d9a0f93ae148eab1ecf81073a3b39ebd1114c9e7fc2aa7ded7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"baa1943e557685d9a0f93ae148eab1ecf81073a3b39ebd1114c9e7fc2aa7ded7","first_computed_at":"2026-05-18T00:21:51.012120Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:21:51.012120Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uALm1PQTyc3I7Un2EQtyfnMw+Yp7Y0ISTdZC+uwTuQzrhGcZq839PBa1NAZZemzmFj2bk6ia1p/s4bzRMLrUDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:21:51.012731Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.04407","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a00da575960271785a4b27125f45c666b17b8269e77a14b3d949b8b0cbbdb14b","sha256:85ee74cb7f4dfbfe6bc947f241d2193b401aa6080cd3d973ac370c7eaf7e07c8"],"state_sha256":"6a386dd448c679643d8975c83cf10f9648886cfce04acb7abffc82ff224896e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3BgxaR6E6NaUmY4hzzkUeEQ/mqAGTOViMfXkVfHxABondutPIFy2xvRR6hsSQylfYmcBo44Fycxrz4nARubaCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T03:10:19.435184Z","bundle_sha256":"a12cc5d6bae10bb2e066211b176ab6b870c4d32ec3a652c452dad2d57efc8a9b"}}