{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:PLKMTWQ353EE2TWLJRRQ7EZIRC","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":"b0697359aed19cf26b53334da905b8d99d62f83fb9f695d2c2729dcdb92631be","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T01:34:55Z","title_canon_sha256":"fae0578857516d2faafcb6bc24285fcba03141eaa97421f3d5530344add22ce4"},"schema_version":"1.0","source":{"id":"2309.12566","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.12566","created_at":"2026-07-05T07:19:22Z"},{"alias_kind":"arxiv_version","alias_value":"2309.12566v2","created_at":"2026-07-05T07:19:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.12566","created_at":"2026-07-05T07:19:22Z"},{"alias_kind":"pith_short_12","alias_value":"PLKMTWQ353EE","created_at":"2026-07-05T07:19:22Z"},{"alias_kind":"pith_short_16","alias_value":"PLKMTWQ353EE2TWL","created_at":"2026-07-05T07:19:22Z"},{"alias_kind":"pith_short_8","alias_value":"PLKMTWQ3","created_at":"2026-07-05T07:19:22Z"}],"graph_snapshots":[{"event_id":"sha256:a6139f5fd5ffb0744b59ea270d1853683040b4a1147db2e823e6681a775e3176","target":"graph","created_at":"2026-07-05T07:19:22Z","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/2309.12566/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"JunGee Hong, Kwang-Ki K. Kim, Min-Gyeom Kim, Muhammad Kazim","cross_cats":["cs.SY","eess.SY","math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T01:34:55Z","title":"Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.12566","kind":"arxiv","version":2},"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":"sha256:40dbcb7025503f541b55cbeec1e0fd660b7d6406bbc04388f37db62c19d01ab9","target":"record","created_at":"2026-07-05T07:19:22Z","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":"b0697359aed19cf26b53334da905b8d99d62f83fb9f695d2c2729dcdb92631be","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T01:34:55Z","title_canon_sha256":"fae0578857516d2faafcb6bc24285fcba03141eaa97421f3d5530344add22ce4"},"schema_version":"1.0","source":{"id":"2309.12566","kind":"arxiv","version":2}},"canonical_sha256":"7ad4c9da1beec84d4ecb4c630f932888a10844d4f94a2ae9c7681146c2493461","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7ad4c9da1beec84d4ecb4c630f932888a10844d4f94a2ae9c7681146c2493461","first_computed_at":"2026-07-05T07:19:22.597911Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:19:22.597911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IEOywSHw+sRtuJyI78Oa3OTkQ+Y4BdPmuFrAly+YMPUQ8FwK5yhOUAs0kYGaNhmTR/lE3DyJ26tXFY0VV9/TDw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:19:22.598507Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.12566","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:40dbcb7025503f541b55cbeec1e0fd660b7d6406bbc04388f37db62c19d01ab9","sha256:a6139f5fd5ffb0744b59ea270d1853683040b4a1147db2e823e6681a775e3176"],"state_sha256":"b6e97105562ee362698b791487a943c9fdef0c1608eabafce376fe627be6566d"}