{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:LKVDR6YMM5US3YI6R6HJYWOYYX","short_pith_number":"pith:LKVDR6YM","canonical_record":{"source":{"id":"2308.08426","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2023-08-16T15:17:52Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"20b36f769e08bd0725a60b3c5197ec69a6c890f875d9be5e2fa9d7d83f3aac0e","abstract_canon_sha256":"695cd0fb073be9eb4f7ca698322324b2402426fb0baee48d049bf6b23a07e1dc"},"schema_version":"1.0"},"canonical_sha256":"5aaa38fb0c67692de11e8f8e9c59d8c5f03b95b08db90ce5a5cca997b6c830bf","source":{"kind":"arxiv","id":"2308.08426","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.08426","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"arxiv_version","alias_value":"2308.08426v3","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.08426","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_12","alias_value":"LKVDR6YMM5US","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_16","alias_value":"LKVDR6YMM5US3YI6","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_8","alias_value":"LKVDR6YM","created_at":"2026-07-05T08:48:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:LKVDR6YMM5US3YI6R6HJYWOYYX","target":"record","payload":{"canonical_record":{"source":{"id":"2308.08426","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2023-08-16T15:17:52Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"20b36f769e08bd0725a60b3c5197ec69a6c890f875d9be5e2fa9d7d83f3aac0e","abstract_canon_sha256":"695cd0fb073be9eb4f7ca698322324b2402426fb0baee48d049bf6b23a07e1dc"},"schema_version":"1.0"},"canonical_sha256":"5aaa38fb0c67692de11e8f8e9c59d8c5f03b95b08db90ce5a5cca997b6c830bf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:48:39.048067Z","signature_b64":"/kXlk8SihAJdvOKO6ftfWeLHyIwqA2wHDiubzpZ3bT3lpPHuPqWYVgz3zX5xT3FWVjPrTvjXbCW4x8hJsXfeBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5aaa38fb0c67692de11e8f8e9c59d8c5f03b95b08db90ce5a5cca997b6c830bf","last_reissued_at":"2026-07-05T08:48:39.047608Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:48:39.047608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.08426","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":"2026-07-05T08:48:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8DKQufbf5sEJwVtixFBowEBX6TOTt3ZvThRapY2WjgrfjN5tiwnZ/RkG0Zc/wHe5gJZ0kWpIlVH4ILv83AdeAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:46:32.472028Z"},"content_sha256":"d9a2fb7ae1f2d5db9aa66895a58e154ab25d58c3783f6db96c9e60363744cc52","schema_version":"1.0","event_id":"sha256:d9a2fb7ae1f2d5db9aa66895a58e154ab25d58c3783f6db96c9e60363744cc52"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:LKVDR6YMM5US3YI6R6HJYWOYYX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Differentiable Robust Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"math.OC","authors_text":"Alex Oshin, Evangelos A. Theodorou, Hassan Almubarak","submitted_at":"2023-08-16T15:17:52Z","abstract_excerpt":"Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental noise and model error can cause deviations from the expected nominal performance. Robust MPC algorithms aim to bridge this gap between deterministic and uncertain control. However, these methods are often excessively difficult to tune for robustness due to the nonlinear and non-intuitive effects that controller parameters have on performance. To address this challenge, we first present a unifying perspective on diffe"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.08426","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/2308.08426/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":"2026-07-05T08:48:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g2/rtcFlNTaNVf5wS25/iWTxJiS5s/TD9lJe8PNv7Isk805fvn6pBJuQX9UitAUuQhIJaHLiA4rmqaGmXMBhAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:46:32.472635Z"},"content_sha256":"2d0f6e3b946d113d315b7a0bbbfc3d0a0b4ed6492db3a872f608e55e6a30a9bc","schema_version":"1.0","event_id":"sha256:2d0f6e3b946d113d315b7a0bbbfc3d0a0b4ed6492db3a872f608e55e6a30a9bc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/bundle.json","state_url":"https://pith.science/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/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":"2026-08-09T19:46:32Z","links":{"resolver":"https://pith.science/pith/LKVDR6YMM5US3YI6R6HJYWOYYX","bundle":"https://pith.science/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/bundle.json","state":"https://pith.science/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LKVDR6YMM5US3YI6R6HJYWOYYX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:LKVDR6YMM5US3YI6R6HJYWOYYX","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":"695cd0fb073be9eb4f7ca698322324b2402426fb0baee48d049bf6b23a07e1dc","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2023-08-16T15:17:52Z","title_canon_sha256":"20b36f769e08bd0725a60b3c5197ec69a6c890f875d9be5e2fa9d7d83f3aac0e"},"schema_version":"1.0","source":{"id":"2308.08426","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.08426","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"arxiv_version","alias_value":"2308.08426v3","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.08426","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_12","alias_value":"LKVDR6YMM5US","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_16","alias_value":"LKVDR6YMM5US3YI6","created_at":"2026-07-05T08:48:39Z"},{"alias_kind":"pith_short_8","alias_value":"LKVDR6YM","created_at":"2026-07-05T08:48:39Z"}],"graph_snapshots":[{"event_id":"sha256:2d0f6e3b946d113d315b7a0bbbfc3d0a0b4ed6492db3a872f608e55e6a30a9bc","target":"graph","created_at":"2026-07-05T08:48:39Z","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/2308.08426/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental noise and model error can cause deviations from the expected nominal performance. Robust MPC algorithms aim to bridge this gap between deterministic and uncertain control. However, these methods are often excessively difficult to tune for robustness due to the nonlinear and non-intuitive effects that controller parameters have on performance. To address this challenge, we first present a unifying perspective on diffe","authors_text":"Alex Oshin, Evangelos A. Theodorou, Hassan Almubarak","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2023-08-16T15:17:52Z","title":"Differentiable Robust Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.08426","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:d9a2fb7ae1f2d5db9aa66895a58e154ab25d58c3783f6db96c9e60363744cc52","target":"record","created_at":"2026-07-05T08:48:39Z","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":"695cd0fb073be9eb4f7ca698322324b2402426fb0baee48d049bf6b23a07e1dc","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2023-08-16T15:17:52Z","title_canon_sha256":"20b36f769e08bd0725a60b3c5197ec69a6c890f875d9be5e2fa9d7d83f3aac0e"},"schema_version":"1.0","source":{"id":"2308.08426","kind":"arxiv","version":3}},"canonical_sha256":"5aaa38fb0c67692de11e8f8e9c59d8c5f03b95b08db90ce5a5cca997b6c830bf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5aaa38fb0c67692de11e8f8e9c59d8c5f03b95b08db90ce5a5cca997b6c830bf","first_computed_at":"2026-07-05T08:48:39.047608Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:48:39.047608Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/kXlk8SihAJdvOKO6ftfWeLHyIwqA2wHDiubzpZ3bT3lpPHuPqWYVgz3zX5xT3FWVjPrTvjXbCW4x8hJsXfeBw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:48:39.048067Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.08426","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d9a2fb7ae1f2d5db9aa66895a58e154ab25d58c3783f6db96c9e60363744cc52","sha256:2d0f6e3b946d113d315b7a0bbbfc3d0a0b4ed6492db3a872f608e55e6a30a9bc"],"state_sha256":"a084a2eda17b3dc090be39bf7be0bb3a16854cdff449b4e4bece1f2f4ef0ab58"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8KdABZSFRxw54CTmQQ0vr5exEIxqbaR24JcEBCVpnIYJr0/8R1TkGi8fgePjFv+xn9/+TZpNRVxTpQ09Y1CxCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T19:46:32.477754Z","bundle_sha256":"7b505d2ec556a4eb6d3f6c9ef7c3632b9619154e0f83ca8f441508f4a3c36c93"}}