{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QCAEVJ7CVONV7G52WNAOQOBW4U","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":"3e03bc1e74dcfb6fd19ba7c92d12ea718dc3cf684356728ffd21854294cfe022","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T05:35:27Z","title_canon_sha256":"617d076d237cb232295f1218366d559f3de68b7563c6b932185183c6a97f8332"},"schema_version":"1.0","source":{"id":"2411.13859","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.13859","created_at":"2026-07-05T09:38:38Z"},{"alias_kind":"arxiv_version","alias_value":"2411.13859v1","created_at":"2026-07-05T09:38:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.13859","created_at":"2026-07-05T09:38:38Z"},{"alias_kind":"pith_short_12","alias_value":"QCAEVJ7CVONV","created_at":"2026-07-05T09:38:38Z"},{"alias_kind":"pith_short_16","alias_value":"QCAEVJ7CVONV7G52","created_at":"2026-07-05T09:38:38Z"},{"alias_kind":"pith_short_8","alias_value":"QCAEVJ7C","created_at":"2026-07-05T09:38:38Z"}],"graph_snapshots":[{"event_id":"sha256:07dc98da7023e1f6b04b3af8d5a5878389cc143fadd4aafd7fcb9bc0f735c2bd","target":"graph","created_at":"2026-07-05T09:38:38Z","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/2411.13859/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives. To enhance the prediction accuracy of the dynamic model, we design a single-shot multi-step prediction (SSMP) model based on long short-term memory (LSTM) and multilayer perceptrons (MLP), which can directly obtain the predictive horizon without iterative repetition and reduce computational pressure. Moreover, we combine offline and online models to address ","authors_text":"Bo Zhou, Dexian Ma","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T05:35:27Z","title":"Data-Driven Multi-step Nonlinear Model Predictive Control for Industrial Heavy Load Hydraulic Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.13859","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":"sha256:6f73d86f0bfcfaefa96c53c97b4c422b8eb9c05a40ef7e45888f487041011cf5","target":"record","created_at":"2026-07-05T09:38:38Z","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":"3e03bc1e74dcfb6fd19ba7c92d12ea718dc3cf684356728ffd21854294cfe022","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-21T05:35:27Z","title_canon_sha256":"617d076d237cb232295f1218366d559f3de68b7563c6b932185183c6a97f8332"},"schema_version":"1.0","source":{"id":"2411.13859","kind":"arxiv","version":1}},"canonical_sha256":"80804aa7e2ab9b5f9bbab340e83836e51addbad14f7d119e133186bfccee1eab","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"80804aa7e2ab9b5f9bbab340e83836e51addbad14f7d119e133186bfccee1eab","first_computed_at":"2026-07-05T09:38:38.202160Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:38:38.202160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ppo1YrJhcIYedNsTZoDZrZOuYbUlJUmfZEbQHJ7fNwtTUefBdFZ6MUhAkzIi1P5NoajflfDBhPY2kL884GmfBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:38:38.202574Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.13859","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6f73d86f0bfcfaefa96c53c97b4c422b8eb9c05a40ef7e45888f487041011cf5","sha256:07dc98da7023e1f6b04b3af8d5a5878389cc143fadd4aafd7fcb9bc0f735c2bd"],"state_sha256":"1201f67cc9cbc33ff47147d098024f5a9bc8768d23b310aae9141e80fa12bc9c"}