{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:GHKJG2YKJLMSS35CHCCOL5ELDC","short_pith_number":"pith:GHKJG2YK","canonical_record":{"source":{"id":"2112.09169","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-12-16T19:37:28Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"197a7239abbf88ee9078114cc83fc4cd1e5468abd5364492f299a4f3eb4bd9b5","abstract_canon_sha256":"d4aee954da9ccce432a82d3432ab54f97b69f6f037b16b7e83d81dbf6b784d15"},"schema_version":"1.0"},"canonical_sha256":"31d4936b0a4ad9296fa23884e5f48b18a382be1339c001f2b435297309f5207f","source":{"kind":"arxiv","id":"2112.09169","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.09169","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"arxiv_version","alias_value":"2112.09169v2","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.09169","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_12","alias_value":"GHKJG2YKJLMS","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_16","alias_value":"GHKJG2YKJLMSS35C","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_8","alias_value":"GHKJG2YK","created_at":"2026-07-05T03:44:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:GHKJG2YKJLMSS35CHCCOL5ELDC","target":"record","payload":{"canonical_record":{"source":{"id":"2112.09169","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-12-16T19:37:28Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"197a7239abbf88ee9078114cc83fc4cd1e5468abd5364492f299a4f3eb4bd9b5","abstract_canon_sha256":"d4aee954da9ccce432a82d3432ab54f97b69f6f037b16b7e83d81dbf6b784d15"},"schema_version":"1.0"},"canonical_sha256":"31d4936b0a4ad9296fa23884e5f48b18a382be1339c001f2b435297309f5207f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:44:57.009863Z","signature_b64":"fvSDhm/aavS8aI/izLx0+WVZVOuFQvSlfcu5PDUFXwg5WRwmMSRXyEDLwgy9p/aCqc6Nrj61g3Eh55OMsBAnAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"31d4936b0a4ad9296fa23884e5f48b18a382be1339c001f2b435297309f5207f","last_reissued_at":"2026-07-05T03:44:57.009393Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:44:57.009393Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.09169","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":"2026-07-05T03:44:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nb++ak+6KDg2xkr6vekQG1+SEYEY273P0BxzFvEBaNrd5KvjVF0QhYcg2VWMePtwS8y/H9Njl9UuWipffk9vBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:57:30.416618Z"},"content_sha256":"35dde033b76d94d4cc227633ec831e04b4f8c623a947f3bdf003704fa3fe2928","schema_version":"1.0","event_id":"sha256:35dde033b76d94d4cc227633ec831e04b4f8c623a947f3bdf003704fa3fe2928"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:GHKJG2YKJLMSS35CHCCOL5ELDC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On Optimizing Interventions in Shared Autonomy","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.AI","authors_text":"Aaslesha Rajaram, David Koleczek, H M Sajjad Hossain, Nicholas Perello, Siddhant Pradhan, Soundararajan Srinivasan, Vishal Rohra, Vivek Chettiar, Weihao Tan, Yash Chandak","submitted_at":"2021-12-16T19:37:28Z","abstract_excerpt":"Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent concurrently accounts for preserving the user's experience or satisfaction of collaboration. In order to address this additional goal, we examine approaches for improving the user experience by constraining the number of interventions by the autonomous agent. We propose two model-free reinforcement learning methods that can account for both hard and soft constraints o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.09169","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2112.09169/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T03:44:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MfgEYxFCpoMg8zrcDVZxpK6V8NU2+hfTUSdEwk3G1s3DqSZ2PYQ0iY2h9XRk8NU/5nQrA8Ky8/+AnyM6JmdBDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:57:30.417480Z"},"content_sha256":"2891fc5d8519ba05e46cc86051f116a3060bb531f97da09bcf7bf67c83aa135f","schema_version":"1.0","event_id":"sha256:2891fc5d8519ba05e46cc86051f116a3060bb531f97da09bcf7bf67c83aa135f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/bundle.json","state_url":"https://pith.science/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/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":"2026-08-03T17:57:30Z","links":{"resolver":"https://pith.science/pith/GHKJG2YKJLMSS35CHCCOL5ELDC","bundle":"https://pith.science/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/bundle.json","state":"https://pith.science/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GHKJG2YKJLMSS35CHCCOL5ELDC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:GHKJG2YKJLMSS35CHCCOL5ELDC","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":"d4aee954da9ccce432a82d3432ab54f97b69f6f037b16b7e83d81dbf6b784d15","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-12-16T19:37:28Z","title_canon_sha256":"197a7239abbf88ee9078114cc83fc4cd1e5468abd5364492f299a4f3eb4bd9b5"},"schema_version":"1.0","source":{"id":"2112.09169","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.09169","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"arxiv_version","alias_value":"2112.09169v2","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.09169","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_12","alias_value":"GHKJG2YKJLMS","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_16","alias_value":"GHKJG2YKJLMSS35C","created_at":"2026-07-05T03:44:57Z"},{"alias_kind":"pith_short_8","alias_value":"GHKJG2YK","created_at":"2026-07-05T03:44:57Z"}],"graph_snapshots":[{"event_id":"sha256:2891fc5d8519ba05e46cc86051f116a3060bb531f97da09bcf7bf67c83aa135f","target":"graph","created_at":"2026-07-05T03:44:57Z","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/2112.09169/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent concurrently accounts for preserving the user's experience or satisfaction of collaboration. In order to address this additional goal, we examine approaches for improving the user experience by constraining the number of interventions by the autonomous agent. We propose two model-free reinforcement learning methods that can account for both hard and soft constraints o","authors_text":"Aaslesha Rajaram, David Koleczek, H M Sajjad Hossain, Nicholas Perello, Siddhant Pradhan, Soundararajan Srinivasan, Vishal Rohra, Vivek Chettiar, Weihao Tan, Yash Chandak","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-12-16T19:37:28Z","title":"On Optimizing Interventions in Shared Autonomy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.09169","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":"sha256:35dde033b76d94d4cc227633ec831e04b4f8c623a947f3bdf003704fa3fe2928","target":"record","created_at":"2026-07-05T03:44:57Z","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":"d4aee954da9ccce432a82d3432ab54f97b69f6f037b16b7e83d81dbf6b784d15","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2021-12-16T19:37:28Z","title_canon_sha256":"197a7239abbf88ee9078114cc83fc4cd1e5468abd5364492f299a4f3eb4bd9b5"},"schema_version":"1.0","source":{"id":"2112.09169","kind":"arxiv","version":2}},"canonical_sha256":"31d4936b0a4ad9296fa23884e5f48b18a382be1339c001f2b435297309f5207f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"31d4936b0a4ad9296fa23884e5f48b18a382be1339c001f2b435297309f5207f","first_computed_at":"2026-07-05T03:44:57.009393Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:44:57.009393Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fvSDhm/aavS8aI/izLx0+WVZVOuFQvSlfcu5PDUFXwg5WRwmMSRXyEDLwgy9p/aCqc6Nrj61g3Eh55OMsBAnAA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:44:57.009863Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.09169","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:35dde033b76d94d4cc227633ec831e04b4f8c623a947f3bdf003704fa3fe2928","sha256:2891fc5d8519ba05e46cc86051f116a3060bb531f97da09bcf7bf67c83aa135f"],"state_sha256":"11e07716331083b4f3e0ed3b6cf49844d4047a3b4c338e6017a418af5aa29e74"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/sL7rXqV5zjoOWkQBoPaqF0vuTVGzOtL1/rNme9n85PqW8pdPuilQhF5hOZhc89j5BhSLsxqxXDSmJ+6sGXBAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T17:57:30.425550Z","bundle_sha256":"155b3302d0296da330b8566967f9adb64874deb232005169bdbd4a9bfa833aa6"}}