{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:57R4323XNTGV6TJTY27WWUNEVC","short_pith_number":"pith:57R4323X","canonical_record":{"source":{"id":"2309.01813","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-04T21:05:59Z","cross_cats_sorted":[],"title_canon_sha256":"c1c497571f5fbeb80b3300a43160e2e9e5d308703ded0e3c55e2b7ca944087b9","abstract_canon_sha256":"86f556f01e765022c1de0f361d0e3d8951ceeed53c715070b89114a675eade44"},"schema_version":"1.0"},"canonical_sha256":"efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339","source":{"kind":"arxiv","id":"2309.01813","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.01813","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"arxiv_version","alias_value":"2309.01813v3","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.01813","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_12","alias_value":"57R4323XNTGV","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_16","alias_value":"57R4323XNTGV6TJT","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_8","alias_value":"57R4323X","created_at":"2026-07-05T10:58:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:57R4323XNTGV6TJTY27WWUNEVC","target":"record","payload":{"canonical_record":{"source":{"id":"2309.01813","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-04T21:05:59Z","cross_cats_sorted":[],"title_canon_sha256":"c1c497571f5fbeb80b3300a43160e2e9e5d308703ded0e3c55e2b7ca944087b9","abstract_canon_sha256":"86f556f01e765022c1de0f361d0e3d8951ceeed53c715070b89114a675eade44"},"schema_version":"1.0"},"canonical_sha256":"efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:58:13.046801Z","signature_b64":"qrarGwAU4edwidOpvLa5eZOgokfL3RD/YNB9M6B/Dh+xdkCsBbAFO/T9E6yJ8F4X9GXpZV6FDEDqZ6YpO2I8Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339","last_reissued_at":"2026-07-05T10:58:13.046299Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:58:13.046299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.01813","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:58:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bzFJnDGiucAJr0BTBKH3exYlt33lPwpqPb0hCG3aXRohguWZW+s9Hn1MjqkCe3wz+BLOZpPUqeaiX2/WjMkJBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:54:50.272838Z"},"content_sha256":"e5f816493d23610e6b55b182d841656448b84bb3aa1bdd7c74966378f6add156","schema_version":"1.0","event_id":"sha256:e5f816493d23610e6b55b182d841656448b84bb3aa1bdd7c74966378f6add156"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:57R4323XNTGV6TJTY27WWUNEVC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alejandro Castro, Aykut \\\"Ozg\\\"un \\\"Onol, Hai Lin, Vince Kurtz","submitted_at":"2023-09-04T21:05:59Z","abstract_excerpt":"Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver and p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.01813","kind":"arxiv","version":3},"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/2309.01813/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":"2026-07-05T10:58:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sfKBAa3z8qqFLl8b+ZM1i1QCYqEouL7TeBlOwjt6WMVTL68aVqPijEJ3oL8EyX54ZLGWTrCb8Z+Nfv29zptCAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:54:50.273463Z"},"content_sha256":"1d0ab493b790f3897f2bbca6143c35edb9d440671d556a64c54ccdd85ff818f9","schema_version":"1.0","event_id":"sha256:1d0ab493b790f3897f2bbca6143c35edb9d440671d556a64c54ccdd85ff818f9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/57R4323XNTGV6TJTY27WWUNEVC/bundle.json","state_url":"https://pith.science/pith/57R4323XNTGV6TJTY27WWUNEVC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/57R4323XNTGV6TJTY27WWUNEVC/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":"2026-07-09T05:54:50Z","links":{"resolver":"https://pith.science/pith/57R4323XNTGV6TJTY27WWUNEVC","bundle":"https://pith.science/pith/57R4323XNTGV6TJTY27WWUNEVC/bundle.json","state":"https://pith.science/pith/57R4323XNTGV6TJTY27WWUNEVC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/57R4323XNTGV6TJTY27WWUNEVC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:57R4323XNTGV6TJTY27WWUNEVC","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":"86f556f01e765022c1de0f361d0e3d8951ceeed53c715070b89114a675eade44","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-04T21:05:59Z","title_canon_sha256":"c1c497571f5fbeb80b3300a43160e2e9e5d308703ded0e3c55e2b7ca944087b9"},"schema_version":"1.0","source":{"id":"2309.01813","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.01813","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"arxiv_version","alias_value":"2309.01813v3","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.01813","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_12","alias_value":"57R4323XNTGV","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_16","alias_value":"57R4323XNTGV6TJT","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_8","alias_value":"57R4323X","created_at":"2026-07-05T10:58:13Z"}],"graph_snapshots":[{"event_id":"sha256:1d0ab493b790f3897f2bbca6143c35edb9d440671d556a64c54ccdd85ff818f9","target":"graph","created_at":"2026-07-05T10:58:13Z","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/2309.01813/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver and p","authors_text":"Alejandro Castro, Aykut \\\"Ozg\\\"un \\\"Onol, Hai Lin, Vince Kurtz","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-04T21:05:59Z","title":"Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.01813","kind":"arxiv","version":3},"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:e5f816493d23610e6b55b182d841656448b84bb3aa1bdd7c74966378f6add156","target":"record","created_at":"2026-07-05T10:58:13Z","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":"86f556f01e765022c1de0f361d0e3d8951ceeed53c715070b89114a675eade44","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-04T21:05:59Z","title_canon_sha256":"c1c497571f5fbeb80b3300a43160e2e9e5d308703ded0e3c55e2b7ca944087b9"},"schema_version":"1.0","source":{"id":"2309.01813","kind":"arxiv","version":3}},"canonical_sha256":"efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339","first_computed_at":"2026-07-05T10:58:13.046299Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:58:13.046299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qrarGwAU4edwidOpvLa5eZOgokfL3RD/YNB9M6B/Dh+xdkCsBbAFO/T9E6yJ8F4X9GXpZV6FDEDqZ6YpO2I8Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:58:13.046801Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.01813","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5f816493d23610e6b55b182d841656448b84bb3aa1bdd7c74966378f6add156","sha256:1d0ab493b790f3897f2bbca6143c35edb9d440671d556a64c54ccdd85ff818f9"],"state_sha256":"2f0381a38b88aa14638f3f34d32eac8531ce2cc466a6c91a422de02248cab239"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tBL+m+5MJNcOgmUzKHFfu+5tGIFTkrVtnSZrLKqJyRqd3yFbZ2xBYc5BT/BVXT0R5vmM86wqvQzFOUGX3/k8CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:54:50.277242Z","bundle_sha256":"a55ddb41dc6dacd31e371b86086b115cd019e2b183923442b6c8e119817b814b"}}