{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:PLKMTWQ353EE2TWLJRRQ7EZIRC","short_pith_number":"pith:PLKMTWQ3","schema_version":"1.0","canonical_sha256":"7ad4c9da1beec84d4ecb4c630f932888a10844d4f94a2ae9c7681146c2493461","source":{"kind":"arxiv","id":"2309.12566","version":2},"attestation_state":"computed","paper":{"title":"Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY","math.OC"],"primary_cat":"cs.RO","authors_text":"JunGee Hong, Kwang-Ki K. Kim, Min-Gyeom Kim, Muhammad Kazim","submitted_at":"2023-09-22T01:34:55Z","abstract_excerpt":"This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution for stochastic optimal control and provide algorithmic descriptions of the cross-entropy (CE) method, an open-loop controller using the receding horizon scheme known as the model predictive path integral (MPPI), and a parameterized state feedback controller based on the path integral control theory. We discuss policy search methods based on path integral cont"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2309.12566","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T01:34:55Z","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"title_canon_sha256":"fae0578857516d2faafcb6bc24285fcba03141eaa97421f3d5530344add22ce4","abstract_canon_sha256":"b0697359aed19cf26b53334da905b8d99d62f83fb9f695d2c2729dcdb92631be"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:19:22.598507Z","signature_b64":"IEOywSHw+sRtuJyI78Oa3OTkQ+Y4BdPmuFrAly+YMPUQ8FwK5yhOUAs0kYGaNhmTR/lE3DyJ26tXFY0VV9/TDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7ad4c9da1beec84d4ecb4c630f932888a10844d4f94a2ae9c7681146c2493461","last_reissued_at":"2026-07-05T07:19:22.597911Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:19:22.597911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY","math.OC"],"primary_cat":"cs.RO","authors_text":"JunGee Hong, Kwang-Ki K. Kim, Min-Gyeom Kim, Muhammad Kazim","submitted_at":"2023-09-22T01:34:55Z","abstract_excerpt":"This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution for stochastic optimal control and provide algorithmic descriptions of the cross-entropy (CE) method, an open-loop controller using the receding horizon scheme known as the model predictive path integral (MPPI), and a parameterized state feedback controller based on the path integral control theory. We discuss policy search methods based on path integral cont"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.12566","kind":"arxiv","version":2},"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/2309.12566/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2309.12566","created_at":"2026-07-05T07:19:22.597978+00:00"},{"alias_kind":"arxiv_version","alias_value":"2309.12566v2","created_at":"2026-07-05T07:19:22.597978+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.12566","created_at":"2026-07-05T07:19:22.597978+00:00"},{"alias_kind":"pith_short_12","alias_value":"PLKMTWQ353EE","created_at":"2026-07-05T07:19:22.597978+00:00"},{"alias_kind":"pith_short_16","alias_value":"PLKMTWQ353EE2TWL","created_at":"2026-07-05T07:19:22.597978+00:00"},{"alias_kind":"pith_short_8","alias_value":"PLKMTWQ3","created_at":"2026-07-05T07:19:22.597978+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC","json":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC.json","graph_json":"https://pith.science/api/pith-number/PLKMTWQ353EE2TWLJRRQ7EZIRC/graph.json","events_json":"https://pith.science/api/pith-number/PLKMTWQ353EE2TWLJRRQ7EZIRC/events.json","paper":"https://pith.science/paper/PLKMTWQ3"},"agent_actions":{"view_html":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC","download_json":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC.json","view_paper":"https://pith.science/paper/PLKMTWQ3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2309.12566&json=true","fetch_graph":"https://pith.science/api/pith-number/PLKMTWQ353EE2TWLJRRQ7EZIRC/graph.json","fetch_events":"https://pith.science/api/pith-number/PLKMTWQ353EE2TWLJRRQ7EZIRC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC/action/storage_attestation","attest_author":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC/action/author_attestation","sign_citation":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC/action/citation_signature","submit_replication":"https://pith.science/pith/PLKMTWQ353EE2TWLJRRQ7EZIRC/action/replication_record"}},"created_at":"2026-07-05T07:19:22.597978+00:00","updated_at":"2026-07-05T07:19:22.597978+00:00"}