Pith Number

pith:ULST2YZJ

pith:2025:ULST2YZJUB4XHMM6JX4DCD4VWV

not attested not anchored not stored refs pending

BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field

Bardh Hoxha, Dimitra Panagou, Georgios Fainekos, Hardik Parwana, Hideki Okamoto, Kehan Long, Taekyung Kim

arxiv:2506.07325 v1 · 2025-06-08 · cs.RO · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ULST2YZJUB4XHMM6JX4DCD4VWV}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

1 paper in Pith

GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems

Receipt and verification

First computed	2026-07-05T11:18:25.094452Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a2e53d6329a07973b19e4df8310f95b5509d32f6f0fa3e5690788c6aa5b3d2d7

Aliases

arxiv: 2506.07325 · arxiv_version: 2506.07325v1 · doi: 10.48550/arxiv.2506.07325 · pith_short_12: ULST2YZJUB4X · pith_short_16: ULST2YZJUB4XHMM6 · pith_short_8: ULST2YZJ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/ULST2YZJUB4XHMM6JX4DCD4VWV \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: a2e53d6329a07973b19e4df8310f95b5509d32f6f0fa3e5690788c6aa5b3d2d7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e16db34e9b091ffd32594dbef242fb0c8dd8b65339acc2067d726bad47e83aea",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-06-08T23:45:14Z",
    "title_canon_sha256": "471f1b29d73471e90a137f3cd7780cc27f5c838c61d7ac1ee8a2b76a0e18963f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.07325",
    "kind": "arxiv",
    "version": 1
  }
}