{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZKKTG6WD537KSWJESQOF74432P","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":"2c275c3cf24d0e8bdc0b6215316fd528e8261b01d381be3aeba91d2530737119","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T15:20:57Z","title_canon_sha256":"59c702911200878e71af6093790176653895af4f2f50f5707880950bc71d5e1a"},"schema_version":"1.0","source":{"id":"2607.13938","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.13938","created_at":"2026-07-16T01:23:14Z"},{"alias_kind":"arxiv_version","alias_value":"2607.13938v1","created_at":"2026-07-16T01:23:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.13938","created_at":"2026-07-16T01:23:14Z"},{"alias_kind":"pith_short_12","alias_value":"ZKKTG6WD537K","created_at":"2026-07-16T01:23:14Z"},{"alias_kind":"pith_short_16","alias_value":"ZKKTG6WD537KSWJE","created_at":"2026-07-16T01:23:14Z"},{"alias_kind":"pith_short_8","alias_value":"ZKKTG6WD","created_at":"2026-07-16T01:23:14Z"}],"graph_snapshots":[{"event_id":"sha256:d118a783eefb678541d76ae1407faf6452ff515355baecd5d5d22e0749d01207","target":"graph","created_at":"2026-07-16T01:23:14Z","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/2607.13938/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Inverse Reinforcement Learning (IRL) algorithms are powerful tools for learning from and generalizing expert demonstrations, but they often rely on unconstrained exploration, rendering them unsafe for real-world deployment. Meanwhile, Control Barrier Functions (CBFs) can guarantee the safety of control systems, but the analytical design of CBFs can be time-consuming and esoteric. In this work, we address these limitations jointly by constraining reward function candidacy during IRL to the space of CBFs, yielding a formulation that exhibits safe online control with continuous experiential impro","authors_text":"Anubhav Vishwakarma, Bhaumik Mehta, Byron Boots, Caleb Hsu, Karen Leung, Tyler Han","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T15:20:57Z","title":"Discriminative Barrier Functions for Safe Adversarial Imitation Learning from Observation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.13938","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":"sha256:42b86f372841390d50eb2077cf3f51dab5a09c5658f0bd63ae878fb44c6ab49f","target":"record","created_at":"2026-07-16T01:23:14Z","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":"2c275c3cf24d0e8bdc0b6215316fd528e8261b01d381be3aeba91d2530737119","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-15T15:20:57Z","title_canon_sha256":"59c702911200878e71af6093790176653895af4f2f50f5707880950bc71d5e1a"},"schema_version":"1.0","source":{"id":"2607.13938","kind":"arxiv","version":1}},"canonical_sha256":"ca95337ac3eefea95924941c5ff39bd3c23bf166d4669d7828f8fff48ab64a9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca95337ac3eefea95924941c5ff39bd3c23bf166d4669d7828f8fff48ab64a9e","first_computed_at":"2026-07-16T01:23:14.897366Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-16T01:23:14.897366Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Vx1owyBFWVIgQUbaOGJEhgci8xIMM5QwCvlmcJ7NRzwTQxg4Efnnb25RhvQBkEIrUiMxdInOMMeRXHjKbbTkAA==","signature_status":"signed_v1","signed_at":"2026-07-16T01:23:14.898199Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.13938","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:42b86f372841390d50eb2077cf3f51dab5a09c5658f0bd63ae878fb44c6ab49f","sha256:d118a783eefb678541d76ae1407faf6452ff515355baecd5d5d22e0749d01207"],"state_sha256":"4752085d13a90f695fb923dee7d15daaa821cc9160cb74088c35418fd41895e6"}