{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:BAKGCV3VCKLHKV4PJ6OFS6S7VK","short_pith_number":"pith:BAKGCV3V","canonical_record":{"source":{"id":"2102.11736","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2021-02-23T15:01:36Z","cross_cats_sorted":["cs.AI","cs.SY"],"title_canon_sha256":"b1060f346207263cd0ab352864721c2b79b779fb53932a37a85f7eb27bcccf59","abstract_canon_sha256":"810aa8acc5e13a4719f731aa1beafd347536dd7d3417880d3fc0c3dbb796ca0f"},"schema_version":"1.0"},"canonical_sha256":"0814615775129675578f4f9c597a5faa98f7d48b8fdaf87dde75a9d2e300c397","source":{"kind":"arxiv","id":"2102.11736","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.11736","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"arxiv_version","alias_value":"2102.11736v1","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.11736","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_12","alias_value":"BAKGCV3VCKLH","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_16","alias_value":"BAKGCV3VCKLHKV4P","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_8","alias_value":"BAKGCV3V","created_at":"2026-07-05T02:17:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:BAKGCV3VCKLHKV4PJ6OFS6S7VK","target":"record","payload":{"canonical_record":{"source":{"id":"2102.11736","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2021-02-23T15:01:36Z","cross_cats_sorted":["cs.AI","cs.SY"],"title_canon_sha256":"b1060f346207263cd0ab352864721c2b79b779fb53932a37a85f7eb27bcccf59","abstract_canon_sha256":"810aa8acc5e13a4719f731aa1beafd347536dd7d3417880d3fc0c3dbb796ca0f"},"schema_version":"1.0"},"canonical_sha256":"0814615775129675578f4f9c597a5faa98f7d48b8fdaf87dde75a9d2e300c397","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:17:53.773012Z","signature_b64":"E7/Z+cwNyptEkpGAbEC5Whq9kBm1pftTqET1uyKlDg62ds9JK9aYZg5n+3RyCCbND08JOYRIA0p/L2V+rv8iCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0814615775129675578f4f9c597a5faa98f7d48b8fdaf87dde75a9d2e300c397","last_reissued_at":"2026-07-05T02:17:53.772545Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:17:53.772545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2102.11736","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:17:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"y9sgWby9hV/5CG83xYvzcP8tZFyA/N7nS1no1d55AuODe3hrpspSzO4PJRe0iNzAaYFTiCEczTgAabfgAOP+Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T21:36:04.566011Z"},"content_sha256":"29deb4ea766f50b262c71692db9d2a1c1909d5099765b6c6f8b6aacd7c27d54d","schema_version":"1.0","event_id":"sha256:29deb4ea766f50b262c71692db9d2a1c1909d5099765b6c6f8b6aacd7c27d54d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:BAKGCV3VCKLHKV4PJ6OFS6S7VK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Recurrent Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.SY"],"primary_cat":"eess.SY","authors_text":"Bo Cheng, Jingliang Duan, Qi Sun, Shengbo Eben Li, Wenxuan Wang, Yuming Yin, Zhengyu Liu, Ziyu Lin","submitted_at":"2021-02-23T15:01:36Z","abstract_excerpt":"This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full use of the current computing resources and adaptively select the longest model prediction horizon. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the system states and reference values directly to the control inputs. The number of prediction steps is equal to the number of recurrent cycles of the learned policy funct"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.11736","kind":"arxiv","version":1},"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/2102.11736/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":"2026-07-05T02:17:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GsGe/yRTrhsGG4R4LUBmR1EjreqMC+Jhn7VLsNS2zonFIqgXVWFefLWfdHPkN6dkVWGeqiOw95/F6VdUO0y7Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T21:36:04.566916Z"},"content_sha256":"fd5d7e2ca1bf9f93956fb6324c6ffdc4642483f8092b00cb7534cfc35c6a8892","schema_version":"1.0","event_id":"sha256:fd5d7e2ca1bf9f93956fb6324c6ffdc4642483f8092b00cb7534cfc35c6a8892"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/bundle.json","state_url":"https://pith.science/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/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":"2026-08-12T21:36:04Z","links":{"resolver":"https://pith.science/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK","bundle":"https://pith.science/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/bundle.json","state":"https://pith.science/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BAKGCV3VCKLHKV4PJ6OFS6S7VK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:BAKGCV3VCKLHKV4PJ6OFS6S7VK","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":"810aa8acc5e13a4719f731aa1beafd347536dd7d3417880d3fc0c3dbb796ca0f","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2021-02-23T15:01:36Z","title_canon_sha256":"b1060f346207263cd0ab352864721c2b79b779fb53932a37a85f7eb27bcccf59"},"schema_version":"1.0","source":{"id":"2102.11736","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.11736","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"arxiv_version","alias_value":"2102.11736v1","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.11736","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_12","alias_value":"BAKGCV3VCKLH","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_16","alias_value":"BAKGCV3VCKLHKV4P","created_at":"2026-07-05T02:17:53Z"},{"alias_kind":"pith_short_8","alias_value":"BAKGCV3V","created_at":"2026-07-05T02:17:53Z"}],"graph_snapshots":[{"event_id":"sha256:fd5d7e2ca1bf9f93956fb6324c6ffdc4642483f8092b00cb7534cfc35c6a8892","target":"graph","created_at":"2026-07-05T02:17:53Z","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/2102.11736/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full use of the current computing resources and adaptively select the longest model prediction horizon. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the system states and reference values directly to the control inputs. The number of prediction steps is equal to the number of recurrent cycles of the learned policy funct","authors_text":"Bo Cheng, Jingliang Duan, Qi Sun, Shengbo Eben Li, Wenxuan Wang, Yuming Yin, Zhengyu Liu, Ziyu Lin","cross_cats":["cs.AI","cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2021-02-23T15:01:36Z","title":"Recurrent Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.11736","kind":"arxiv","version":1},"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":"sha256:29deb4ea766f50b262c71692db9d2a1c1909d5099765b6c6f8b6aacd7c27d54d","target":"record","created_at":"2026-07-05T02:17:53Z","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":"810aa8acc5e13a4719f731aa1beafd347536dd7d3417880d3fc0c3dbb796ca0f","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2021-02-23T15:01:36Z","title_canon_sha256":"b1060f346207263cd0ab352864721c2b79b779fb53932a37a85f7eb27bcccf59"},"schema_version":"1.0","source":{"id":"2102.11736","kind":"arxiv","version":1}},"canonical_sha256":"0814615775129675578f4f9c597a5faa98f7d48b8fdaf87dde75a9d2e300c397","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0814615775129675578f4f9c597a5faa98f7d48b8fdaf87dde75a9d2e300c397","first_computed_at":"2026-07-05T02:17:53.772545Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:17:53.772545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E7/Z+cwNyptEkpGAbEC5Whq9kBm1pftTqET1uyKlDg62ds9JK9aYZg5n+3RyCCbND08JOYRIA0p/L2V+rv8iCA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:17:53.773012Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.11736","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:29deb4ea766f50b262c71692db9d2a1c1909d5099765b6c6f8b6aacd7c27d54d","sha256:fd5d7e2ca1bf9f93956fb6324c6ffdc4642483f8092b00cb7534cfc35c6a8892"],"state_sha256":"5b21e66efbe391668107f8611b4daae32bcfcfe6edb5d67e3f01e8b7a2aa8431"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FtbRVe/upQF9KiI83NYaMKoVMHUZRntP00p/NdSIR+noTb4zGmwzpghP3fac4JGp7WniU1q1t7MNsSt2KhPPDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T21:36:04.576639Z","bundle_sha256":"02758f21592e8a221e38063b4549e58e321464cf5379de90175bb721cc395da7"}}