{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:C56YJ32CL47WBDQBI4UWEHPF4B","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":"e991e55d2e283083c5bf3d405c6b772daaef964ae9f58334e54cb868bf3d9052","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-06T04:23:36Z","title_canon_sha256":"e15c9ecb59431a09ec375b8d5e6cd9931fd7225d3bc8b452658a72822cef6758"},"schema_version":"1.0","source":{"id":"1607.01478","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.01478","created_at":"2026-05-18T01:11:26Z"},{"alias_kind":"arxiv_version","alias_value":"1607.01478v1","created_at":"2026-05-18T01:11:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.01478","created_at":"2026-05-18T01:11:26Z"},{"alias_kind":"pith_short_12","alias_value":"C56YJ32CL47W","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"C56YJ32CL47WBDQB","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"C56YJ32C","created_at":"2026-05-18T12:30:09Z"}],"graph_snapshots":[{"event_id":"sha256:e93268e578ba2e0024222fe1f8ff5ecb51a45fd9c057662739952824ff77e7d1","target":"graph","created_at":"2026-05-18T01:11:26Z","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":"Choosing control inputs randomly can result in a reduced expected cost in optimal control problems with stochastic constraints, such as stochastic model predictive control (SMPC). We consider a controller with initial randomization, meaning that the controller randomly chooses from K+1 control sequences at the beginning (called K-randimization).It is known that, for a finite-state, finite-action Markov Decision Process (MDP) with K constraints, K-randimization is sufficient to achieve the minimum cost. We found that the same result holds for stochastic optimal control problems with continuous ","authors_text":"Behcet Acikmese, Mahmoud El Chamie, Marco Pavone, Masahiro Ono","cross_cats":["cs.AI","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-06T04:23:36Z","title":"Mixed Strategy for Constrained Stochastic Optimal Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.01478","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":"sha256:023e7aed1145bc312b6861c6f4f3b7762ca0a38be3993387cad7ce683fb7c8d5","target":"record","created_at":"2026-05-18T01:11:26Z","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":"e991e55d2e283083c5bf3d405c6b772daaef964ae9f58334e54cb868bf3d9052","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-06T04:23:36Z","title_canon_sha256":"e15c9ecb59431a09ec375b8d5e6cd9931fd7225d3bc8b452658a72822cef6758"},"schema_version":"1.0","source":{"id":"1607.01478","kind":"arxiv","version":1}},"canonical_sha256":"177d84ef425f3f608e014729621de5e07e349da6a129c8933343bd8525e99ba6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"177d84ef425f3f608e014729621de5e07e349da6a129c8933343bd8525e99ba6","first_computed_at":"2026-05-18T01:11:26.327909Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:11:26.327909Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sElYBJgX7jcZtiCySuK+jyyyjRFBUEbbkmUTQcz+1UQjbZEDI4b2+BAxxDGpPlui74Pfy5lFo23bixcuy+O+CQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:11:26.328412Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.01478","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:023e7aed1145bc312b6861c6f4f3b7762ca0a38be3993387cad7ce683fb7c8d5","sha256:e93268e578ba2e0024222fe1f8ff5ecb51a45fd9c057662739952824ff77e7d1"],"state_sha256":"315488b0661f7fe3b9749df7dc965806a541570f1f29b57843c2f6765c55db9e"}