{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:PMQEZFRWZKGSWTD4UPN5VCPWCF","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":"c5077445e395fd18e04296340fe503c81f3bae97c512e4f5ea82bc6ccfe4258f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2023-10-31T12:07:47Z","title_canon_sha256":"7b1fe58348cc567221e57872420d04e70c81cd54c7f0d46f6162869706b66d8a"},"schema_version":"1.0","source":{"id":"2310.20390","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.20390","created_at":"2026-07-05T07:07:29Z"},{"alias_kind":"arxiv_version","alias_value":"2310.20390v1","created_at":"2026-07-05T07:07:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.20390","created_at":"2026-07-05T07:07:29Z"},{"alias_kind":"pith_short_12","alias_value":"PMQEZFRWZKGS","created_at":"2026-07-05T07:07:29Z"},{"alias_kind":"pith_short_16","alias_value":"PMQEZFRWZKGSWTD4","created_at":"2026-07-05T07:07:29Z"},{"alias_kind":"pith_short_8","alias_value":"PMQEZFRW","created_at":"2026-07-05T07:07:29Z"}],"graph_snapshots":[{"event_id":"sha256:f099fcb4c1749556c6cb2bd19580b3c2840459ce0cc518a41b0e09d4e50dd113","target":"graph","created_at":"2026-07-05T07:07:29Z","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/2310.20390/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work proposes an efficient treatment of continuous-time optimal control problem (OCP) with long horizons and nonlinear least-squares costs. The Gauss-Newton Runge-Kutta (GNRK) integrator is presented which provides a high-order cost integration. Crucially, the Hessian of the cost terms required within an SQP-type algorithm is approximated with a Gauss-Newton Hessian. Moreover, L2 penalty formulations for constraints are shown to be particularly effective for optimization with GNRK. An efficient implementation of GNRK is provided in the open-source software framework acados. We demonstrate","authors_text":"Jonathan Frey, Katrin Baumg\\\"artner, Moritz Diehl","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2023-10-31T12:07:47Z","title":"Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.20390","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":"sha256:33f8a597f4e27a6554ec255e7ff0026158a1fa416bb9528eb70f50a869c8cd5c","target":"record","created_at":"2026-07-05T07:07:29Z","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":"c5077445e395fd18e04296340fe503c81f3bae97c512e4f5ea82bc6ccfe4258f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2023-10-31T12:07:47Z","title_canon_sha256":"7b1fe58348cc567221e57872420d04e70c81cd54c7f0d46f6162869706b66d8a"},"schema_version":"1.0","source":{"id":"2310.20390","kind":"arxiv","version":1}},"canonical_sha256":"7b204c9636ca8d2b4c7ca3dbda89f6114aebd8b6e4c29ae06f8000c72e616b8b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7b204c9636ca8d2b4c7ca3dbda89f6114aebd8b6e4c29ae06f8000c72e616b8b","first_computed_at":"2026-07-05T07:07:29.412075Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:07:29.412075Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1/fnD8y5w6P8TqYPY7Y7/JoBSnbQI2nS82OyhswjTylo15BbXATopb8LeWbtJGwjXDcRJBUFC6CB2/vWm2dZCg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:07:29.412505Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.20390","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:33f8a597f4e27a6554ec255e7ff0026158a1fa416bb9528eb70f50a869c8cd5c","sha256:f099fcb4c1749556c6cb2bd19580b3c2840459ce0cc518a41b0e09d4e50dd113"],"state_sha256":"5fb7d15a6dee96c1bb77af17485d0ed33f3377a454536e2b8ba6e2e8ba08b249"}