Paper Citation Record · LEDGER

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots

As of 9 August 2026, this Paper Citation Record lists 29 of 29 outbound references and 0 inbound Pith citation observations for arXiv:2509.04722.

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

pith.paper-citation-record.v1
2509.04722 v1

Coverage vector

measured 29 of 29 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-05T06:01:40.460230Z

measured 29 of 29 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+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

29 of 29 outbound references displayed

verified exact3
verified fuzzy18
unresolved8
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation f9c3e054-c82c-42f1-ab80-e1d483ad046b · outbound

This paper cites Hybrid zero dynamics of planar biped walkers,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Hybrid zero dynamics of planar biped walkers,

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.343663Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d28831b2-f50b-4d18-a87b-8394900ed595 · outbound

This paper cites Realizing dynamic and efficient bipedal locomotion on the humanoid robot durus,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Realizing dynamic and efficient bipedal locomotion on the humanoid robot durus,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.801988Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 81ac92c1-b5e1-45aa-9592-bae871830c6b · outbound

This paper cites Dynamic walking with compliance on a cassie bipedal robot,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Dynamic walking with compliance on a cassie bipedal robot,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.790374Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 58b3b2fa-c4d7-4d61-928a-e2c43a3bf596 · outbound

This paper cites Humanoid robot co-design: Coupling hardware design with gait generation via hybrid zero dynamics,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Humanoid robot co-design: Coupling hardware design with gait generation via hybrid zero dynamics,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.779179Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation bc924912-0baa-4134-9db0-4f2e39fcfcee · outbound

This paper cites Whole-body model predictive control for biped locomotion on a torque-controlled humanoid robot,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Whole-body model predictive control for biped locomotion on a torque-controlled humanoid robot,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.767532Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d2802c93-a740-4bc6-8190-640af425bad6 · outbound

This paper cites Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

Reference 6

Resolution: verified exact; local_arxiv, observed 2026-08-05T06:01:40.547507Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 30d20dea-75d2-4e5c-a2d8-06dff7f5e487 · outbound

This paper cites Tailoring solution accuracy for fast whole-body model predictive control of legged robots,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Tailoring solution accuracy for fast whole-body model predictive control of legged robots,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.755841Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 76033211-0ad1-4e26-9f5e-335ffe54bd89 · outbound

This paper cites The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.744293Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d5b9e9d8-8c30-4104-8f9a-09ec4ae73692 · outbound

This paper cites 3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots 3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.378250Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c4eed1c2-9d97-4b55-a8bb-cc7629ec437f · outbound

This paper cites Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.382566Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5ff63bd-6dcd-4fd3-bdcf-636340ce648c · outbound

This paper cites The spring-mass model for running and hopping,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots The spring-mass model for running and hopping,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.386949Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 992a7c86-9701-45ec-a15b-694bd28fc989 · outbound

This paper cites Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.717250Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 0281468d-5248-4478-ba8e-a217f306c307 · outbound

This paper cites Terrain- adaptive, alip-based bipedal locomotion controller via model predictive control and virtual constraints,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Terrain- adaptive, alip-based bipedal locomotion controller via model predictive control and virtual constraints,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.706421Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 8acdff63-4981-4efc-ace5-12eaf66296f6 · outbound

This paper cites Stair climbing using the angular momentum linear inverted pendulum model and model predictive control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Stair climbing using the angular momentum linear inverted pendulum model and model predictive control,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.695290Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 812fd4d1-9f9a-4c4b-8761-1b4abeb9170c · outbound

This paper cites A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-08-05T06:01:40.517953Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation a00f0b1a-eacc-46a6-b0ef-1318ba5ec851 · outbound

This paper cites Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Seamless reaction strategy for bipedal locomotion exploiting real-time nonlinear model predictive control,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.684086Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation e0256fba-57ff-403e-a9d6-8d544daecf80 · outbound

This paper cites Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-08-05T06:01:40.498978Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 8eab74c1-ac65-4a67-bdc7-468a5fc6eae5 · outbound

This paper cites Whole-body motion planning with centroidal dynamics and full kinematics,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Whole-body motion planning with centroidal dynamics and full kinematics,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.672481Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 075aeb3a-2218-4cfd-8808-5f284d8af333 · outbound

This paper cites Humanoid arm motion planning for im- proved disturbance recovery using model hierarchy predictive control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Humanoid arm motion planning for im- proved disturbance recovery using model hierarchy predictive control,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.660154Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 37c4a3e1-f5e1-4e1e-9cdf-731c2f479749 · outbound

This paper cites Arm/trunk motion generation for humanoid robot,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Arm/trunk motion generation for humanoid robot,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.649259Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 6563459d-ce15-40d7-bff1-ba2832f60b7f · outbound

This paper cites Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.638208Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c2d69b33-c83c-431c-95b7-b2650bc6b8f2 · outbound

This paper cites Dynamic locomotion in the mit cheetah 3 through convex model-predictive control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Dynamic locomotion in the mit cheetah 3 through convex model-predictive control,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.627271Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 94736196-4e4b-4b36-832e-651eab5c4959 · outbound

This paper cites Dynamic walking on highly underactuated point foot humanoids: Closing the loop between hzd and hlip,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Dynamic walking on highly underactuated point foot humanoids: Closing the loop between hzd and hlip,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.616199Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 14977a61-b79e-406b-b538-3689cfbccfa5 · outbound

This paper cites CasADi – A software framework for nonlinear optimization and optimal control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots CasADi – A software framework for nonlinear optimization and optimal control,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.439228Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3f5ccb16-c9fa-48bf-badb-465ed0729012 · outbound

This paper cites Wachter,An interior point algorithm for large-scale nonlinear optimization with applications in process engineering.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Wachter,An interior point algorithm for large-scale nonlinear optimization with applications in process engineering

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.598247Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 24c8112f-e38d-4eb0-b881-4464a1387f6a · outbound

This paper cites Eigen v3,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Eigen v3,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:01:40.586598Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 29758c7b-1291-44a8-9815-e213fec6925e · outbound

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

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots The pinocchio c++ library: A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.451063Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4e6480bd-9d27-478a-a552-77e7fdbd3f72 · outbound

This paper cites Mujoco: A physics engine for model-based control,.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Mujoco: A physics engine for model-based control,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-05T06:01:40.456340Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 298cb9c4-e0ac-4098-9bec-e0473731e846 · outbound

This paper cites an unresolved cited work.

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots Unresolved cited work

Reference 29

Resolution: unresolved; raw_fallback, observed 2026-08-05T06:01:40.559744Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

No inbound Pith citation observations are available.