Paper Citation Record · LEDGER

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control

As of 8 August 2026, this Paper Citation Record lists 34 of 34 outbound references and 0 inbound Pith citation observations for arXiv:2506.09979.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.09979 v2

Coverage vector

measured 34 of 34 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T04:40:50.689043Z

measured 34 of 34 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-07T06:34:17.273281+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

34 of 34 outbound references displayed

verified exact11
verified fuzzy9
unresolved14
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 6447dbb2-2822-4a8e-98e0-64f2dc7ede04 · outbound

This paper cites Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.420490Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 13d419b6-b59b-4eec-a8a8-e1144e9093b1 · outbound

This paper cites Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.425664Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0caefa0c-62e0-4d72-ab47-fc8951b33af2 · outbound

This paper cites A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.430422Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ec9f218b-8d09-4957-888d-7a19295bd4fb · outbound

This paper cites Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.288232Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation efcf079e-1244-4695-b2cf-cbe91100b2fe · outbound

This paper cites Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

Reference 5

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.266852Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation d81c6a3c-5d99-440d-8e68-e43a2f759b3a · outbound

This paper cites Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems

Reference 6

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.246705Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation ea58701f-33d3-4a43-85ca-f8305493609b · outbound

This paper cites Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Reference 7

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.225145Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 35b11eee-eaaf-4062-9d8a-41dcce157cd9 · outbound

This paper cites Footstep planning on uneven terrain with mixed-integer convex optimization,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Footstep planning on uneven terrain with mixed-integer convex optimization,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.478795Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 7a01efc4-13a3-4e70-88af-fa81d68c9a00 · outbound

This paper cites Multi- Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Multi- Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.463913Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation d6ba60e2-8b70-4532-b52b-2664b1767e8a · outbound

This paper cites Perceptive Locomotion through Nonlinear Model Predictive Control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Perceptive Locomotion through Nonlinear Model Predictive Control

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.462908Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 973bb5bc-47e5-49b7-a6d1-45ffe52768c1 · outbound

This paper cites Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.467961Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a57b1b19-19e6-45b6-81af-836060961370 · outbound

This paper cites Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.170516Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 827aa489-f7a1-4820-bcbc-ffa9daea8a75 · outbound

This paper cites Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots

Reference 13

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.148242Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 518e15fe-e513-496c-9eb6-b0d21ce4df97 · outbound

This paper cites iLQR for Piecewise-Smooth Hybrid Dynamical Systems.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control iLQR for Piecewise-Smooth Hybrid Dynamical Systems

Reference 14

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.125293Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 9d0aacf1-c25c-418e-af2c-f9eebcd34292 · outbound

This paper cites Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.485965Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 94fd78e3-6d38-4176-974b-12f4bac5be13 · outbound

This paper cites Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact,

Reference 16

Resolution: verified exact; doi, observed 2026-08-07T04:40:50.728039Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation bea37e20-787f-47c6-9e00-bbb0098be227 · outbound

This paper cites Fast Contact-Implicit Model-Predictive Control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Fast Contact-Implicit Model-Predictive Control

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.494611Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4f9f995c-b58f-4f6b-a6f5-40ee16432e57 · outbound

This paper cites Optimization-Based Control for Dynamic Legged Robots.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Optimization-Based Control for Dynamic Legged Robots

Reference 18

Resolution: verified exact; local_arxiv, observed 2026-08-07T04:40:51.069931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 6348e7bc-3daf-43e9-8ade-89064dbce217 · outbound

This paper cites Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.503503Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1a973525-bd7a-4512-bc20-27239e7474f6 · outbound

This paper cites Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.616143Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d3e223bb-e54b-42f3-92f1-baa290b027d0 · outbound

This paper cites Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.621255Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e5fdbdee-5801-4f62-9586-337c06774ed6 · outbound

This paper cites Model-Based Diffusion for Trajectory Optimization.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Model-Based Diffusion for Trajectory Optimization

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.626065Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 10c8121c-56f6-4e66-b9d5-8ada2d7bfaf8 · outbound

This paper cites Model Predictive Path Integral Control: From Theory to Parallel Computation,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Model Predictive Path Integral Control: From Theory to Parallel Computation,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.448649Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation e05b77c0-cbfd-4fc4-a03d-90640953e0d5 · outbound

This paper cites Raibert, Legged Robots That Balance.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Raibert, Legged Robots That Balance

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.432429Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation f4fb1b41-05ec-4029-a31d-5356ab940b3f · outbound

This paper cites A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.415664Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation d0460855-bdba-4ad3-9007-eb0291f6b717 · outbound

This paper cites Planning With Attitude,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Planning With Attitude,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.399685Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 07e71940-b0c6-4900-8316-c4ce8818c65f · outbound

This paper cites HPIPM: a high-performance quadratic programming framework for model predictive control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control HPIPM: a high-performance quadratic programming framework for model predictive control

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.652983Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 85878a85-6247-413e-a065-7c959554d958 · outbound

This paper cites A micro Lie theory for state estimation in robotics.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control A micro Lie theory for state estimation in robotics

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.657861Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ddb36be9-4ea7-4b3d-80d2-0e7abc9c452c · outbound

This paper cites An auto-generated real- time iteration algorithm for nonlinear MPC in the microsecond range,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control An auto-generated real- time iteration algorithm for nonlinear MPC in the microsecond range,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.383466Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 228cc1bd-bcfa-4c9b-b89a-9a3e716d9fb6 · outbound

This paper cites acados: a modular open-source framework for fast embedded optimal control.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control acados: a modular open-source framework for fast embedded optimal control

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T04:40:50.667926Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 65c566e6-5136-4953-b150-6ffc69991ee1 · outbound

This paper cites The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,

Reference 31

Resolution: verified exact; raw_fallback, observed 2026-08-07T04:40:50.930875Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation c40da4a8-bebc-4fe9-9b58-0c9b1f96174e · outbound

This paper cites Real-time optimization and non- linear model predictive control of processes governed by differential- algebraic equations,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Real-time optimization and non- linear model predictive control of processes governed by differential- algebraic equations,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.366988Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 204b4d0c-2327-47cf-be2d-f86bcab8a922 · outbound

This paper cites Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization,

Reference 33

Resolution: verified exact; raw_fallback, observed 2026-08-07T04:40:50.846936Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 513f2890-884c-4ad5-98b9-d1dea1badd94 · outbound

This paper cites Hydrax: Sampling-based model predictive control on GPU with JAX and MuJoCo MJX,.

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Hydrax: Sampling-based model predictive control on GPU with JAX and MuJoCo MJX,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:40:51.351676Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Pith citing papers

No inbound Pith citation observations are available.