{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:6LY22LL247KO7AHIZXDW43WTKC","short_pith_number":"pith:6LY22LL2","canonical_record":{"source":{"id":"2011.07641","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-15T22:36:59Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"72c5087daaff137ade32e5462c36f6a989ceb56e1d221627b51ecfc8397b8edd","abstract_canon_sha256":"6db52f1df40ce59c029af786aa129cc1404f4c0cd069cc46d9048a95a1eb7dc6"},"schema_version":"1.0"},"canonical_sha256":"f2f1ad2d7ae7d4ef80e8cdc76e6ed350926744d7b1ccc9678595dc10af772639","source":{"kind":"arxiv","id":"2011.07641","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07641","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07641v4","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07641","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_12","alias_value":"6LY22LL247KO","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_16","alias_value":"6LY22LL247KO7AHI","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_8","alias_value":"6LY22LL2","created_at":"2026-07-05T02:31:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:6LY22LL247KO7AHIZXDW43WTKC","target":"record","payload":{"canonical_record":{"source":{"id":"2011.07641","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-15T22:36:59Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"72c5087daaff137ade32e5462c36f6a989ceb56e1d221627b51ecfc8397b8edd","abstract_canon_sha256":"6db52f1df40ce59c029af786aa129cc1404f4c0cd069cc46d9048a95a1eb7dc6"},"schema_version":"1.0"},"canonical_sha256":"f2f1ad2d7ae7d4ef80e8cdc76e6ed350926744d7b1ccc9678595dc10af772639","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:31:01.516257Z","signature_b64":"3Z9Zbr4zZ7xsJ5vBpkZvE3VUtAH7N/rAa5ufOG5jFYNhABAjo3EXK8bOQZ3MGqO1GBIZYQFHKnEXcwGOsy21DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f2f1ad2d7ae7d4ef80e8cdc76e6ed350926744d7b1ccc9678595dc10af772639","last_reissued_at":"2026-07-05T02:31:01.515820Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:31:01.515820Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.07641","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:31:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k1ypqwCRcX5FVxOzwTvNSo1YU7sOeDuyPbuW3sLXfOayrKs1qp7fc/hF5SXAJh1lcCE8ejTjpvmVqB31TZZZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T06:39:03.081178Z"},"content_sha256":"f241844f49feecb981c715e7ea68e4573afdee0bc94aa99a92ec3c9cd6cfb585","schema_version":"1.0","event_id":"sha256:f241844f49feecb981c715e7ea68e4573afdee0bc94aa99a92ec3c9cd6cfb585"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:6LY22LL247KO7AHIZXDW43WTKC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Stein Variational Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Adam Fishman, Alexander Lambert, Byron Boots, Dieter Fox, Fabio Ramos","submitted_at":"2020-11-15T22:36:59Z","abstract_excerpt":"Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but remain limited when dealing with complex probability distributions. In this paper, we propose a generalization of MPC that represents a multitude of solutions as posterior distributions. By casting MPC as a Bayesian inference problem, we employ variational methods for posterior computation, naturally encoding the complexity and multi-modality of the decision making problem. We present a Stein variational gradient descen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07641","kind":"arxiv","version":4},"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/2011.07641/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":"2026-07-05T02:31:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UGZzjYqydOPUZcbThp0kzH7XPS0w7R0lp9kVYS3TImoB4O5X1ip9Z1aE10/qDykbboSL304d4YmBoiKK/mgWDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T06:39:03.081762Z"},"content_sha256":"1ed1fe5b9416b78e8035f2bac02970ad77d392eaf23f29f05dcae5b0d2b27294","schema_version":"1.0","event_id":"sha256:1ed1fe5b9416b78e8035f2bac02970ad77d392eaf23f29f05dcae5b0d2b27294"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6LY22LL247KO7AHIZXDW43WTKC/bundle.json","state_url":"https://pith.science/pith/6LY22LL247KO7AHIZXDW43WTKC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6LY22LL247KO7AHIZXDW43WTKC/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":"2026-08-13T06:39:03Z","links":{"resolver":"https://pith.science/pith/6LY22LL247KO7AHIZXDW43WTKC","bundle":"https://pith.science/pith/6LY22LL247KO7AHIZXDW43WTKC/bundle.json","state":"https://pith.science/pith/6LY22LL247KO7AHIZXDW43WTKC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6LY22LL247KO7AHIZXDW43WTKC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:6LY22LL247KO7AHIZXDW43WTKC","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":"6db52f1df40ce59c029af786aa129cc1404f4c0cd069cc46d9048a95a1eb7dc6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-15T22:36:59Z","title_canon_sha256":"72c5087daaff137ade32e5462c36f6a989ceb56e1d221627b51ecfc8397b8edd"},"schema_version":"1.0","source":{"id":"2011.07641","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.07641","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"arxiv_version","alias_value":"2011.07641v4","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.07641","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_12","alias_value":"6LY22LL247KO","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_16","alias_value":"6LY22LL247KO7AHI","created_at":"2026-07-05T02:31:01Z"},{"alias_kind":"pith_short_8","alias_value":"6LY22LL2","created_at":"2026-07-05T02:31:01Z"}],"graph_snapshots":[{"event_id":"sha256:1ed1fe5b9416b78e8035f2bac02970ad77d392eaf23f29f05dcae5b0d2b27294","target":"graph","created_at":"2026-07-05T02:31:01Z","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/2011.07641/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but remain limited when dealing with complex probability distributions. In this paper, we propose a generalization of MPC that represents a multitude of solutions as posterior distributions. By casting MPC as a Bayesian inference problem, we employ variational methods for posterior computation, naturally encoding the complexity and multi-modality of the decision making problem. We present a Stein variational gradient descen","authors_text":"Adam Fishman, Alexander Lambert, Byron Boots, Dieter Fox, Fabio Ramos","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-15T22:36:59Z","title":"Stein Variational Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.07641","kind":"arxiv","version":4},"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:f241844f49feecb981c715e7ea68e4573afdee0bc94aa99a92ec3c9cd6cfb585","target":"record","created_at":"2026-07-05T02:31:01Z","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":"6db52f1df40ce59c029af786aa129cc1404f4c0cd069cc46d9048a95a1eb7dc6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-11-15T22:36:59Z","title_canon_sha256":"72c5087daaff137ade32e5462c36f6a989ceb56e1d221627b51ecfc8397b8edd"},"schema_version":"1.0","source":{"id":"2011.07641","kind":"arxiv","version":4}},"canonical_sha256":"f2f1ad2d7ae7d4ef80e8cdc76e6ed350926744d7b1ccc9678595dc10af772639","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2f1ad2d7ae7d4ef80e8cdc76e6ed350926744d7b1ccc9678595dc10af772639","first_computed_at":"2026-07-05T02:31:01.515820Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:31:01.515820Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3Z9Zbr4zZ7xsJ5vBpkZvE3VUtAH7N/rAa5ufOG5jFYNhABAjo3EXK8bOQZ3MGqO1GBIZYQFHKnEXcwGOsy21DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:31:01.516257Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.07641","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f241844f49feecb981c715e7ea68e4573afdee0bc94aa99a92ec3c9cd6cfb585","sha256:1ed1fe5b9416b78e8035f2bac02970ad77d392eaf23f29f05dcae5b0d2b27294"],"state_sha256":"60017580d21e83257be9bfa52c58c0c8655206e4dd1804b5e0228f3467af56af"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7N5Axtvi3Rwyw/OZdciCa0uPOisHQ/cAI0rso3We5rgV1RWOjafbFEdhBliOnK37EM6nclswEj1Ua8Rd4xGKCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T06:39:03.086107Z","bundle_sha256":"d13cc4f8cc49200c8b86975100917d71ad84d927bb194a75365da2d61a720fb4"}}