{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:5Q57IBCXFCQYZ2ITDRMHGCZCLQ","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":"6dda42b7be6b4807d2036728b6c20a2aa09809122eea9edb554c8bdbccb881ff","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-12T12:19:50Z","title_canon_sha256":"0029ef4b5b96779e05fa4a0eeab3fcc19a3ce65b3c9c6ca4bf7da0d9e87e76e4"},"schema_version":"1.0","source":{"id":"1709.03799","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.03799","created_at":"2026-05-18T00:25:55Z"},{"alias_kind":"arxiv_version","alias_value":"1709.03799v2","created_at":"2026-05-18T00:25:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.03799","created_at":"2026-05-18T00:25:55Z"},{"alias_kind":"pith_short_12","alias_value":"5Q57IBCXFCQY","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"5Q57IBCXFCQYZ2IT","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"5Q57IBCX","created_at":"2026-05-18T12:31:00Z"}],"graph_snapshots":[{"event_id":"sha256:2f40f27d4a3fd251fffa02e71d988c5557ba3b8e511a792c8c25a036799abe25","target":"graph","created_at":"2026-05-18T00:25:55Z","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"},"paper":{"abstract_excerpt":"Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with Rigid Body Dynamics, these derivatives are difficult to derive analytically and to implement efficiently. To overcome this issue, we extend the modelling tool `RobCoGen' to be compatible with Automatic Differentiation. Additionally, we propose how to automatically obtain the derivatives and generate highly efficient source code. We highlight the flexibility and ","authors_text":"Claudio Semini, Jonas Buchli, Marco Frigerio, Markus Giftthaler, Markus St\\\"auble, Michael Neunert","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-12T12:19:50Z","title":"Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.03799","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:b0d0e1470407676968cdb7ddeb09aea0595de059a6b8c665413b517e828d977b","target":"record","created_at":"2026-05-18T00:25:55Z","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":"6dda42b7be6b4807d2036728b6c20a2aa09809122eea9edb554c8bdbccb881ff","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-12T12:19:50Z","title_canon_sha256":"0029ef4b5b96779e05fa4a0eeab3fcc19a3ce65b3c9c6ca4bf7da0d9e87e76e4"},"schema_version":"1.0","source":{"id":"1709.03799","kind":"arxiv","version":2}},"canonical_sha256":"ec3bf4045728a18ce9131c58730b225c1d89bb0cc159f8e9e02a3277e953505a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ec3bf4045728a18ce9131c58730b225c1d89bb0cc159f8e9e02a3277e953505a","first_computed_at":"2026-05-18T00:25:55.050814Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:25:55.050814Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0B/wiU22pAaaSc3BMFzJBWUHZFByMtE5wmMiZ9DTgxeK+ku5w86H+dKB+Xknk7J8Yi0/5Exxm9nT2pfmT48DAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:25:55.051300Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.03799","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b0d0e1470407676968cdb7ddeb09aea0595de059a6b8c665413b517e828d977b","sha256:2f40f27d4a3fd251fffa02e71d988c5557ba3b8e511a792c8c25a036799abe25"],"state_sha256":"70d1d1a58fcd4a40938322a12b2e68c64418050e07ef6e1826856f2b8a2ceaa7"}