{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:V6LQRYULGCHNNURVWOH6NCMAUV","short_pith_number":"pith:V6LQRYUL","canonical_record":{"source":{"id":"2606.05840","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-06-04T08:15:23Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"0b2471cc8aad744d80ecfd27f9a9e7221c173aa953085e2e5b2271a345acd5ef","abstract_canon_sha256":"113507c8c204d12c4cfd079f50cf331a312956e4fb42998febb77b1ec9e45877"},"schema_version":"1.0"},"canonical_sha256":"af9708e28b308ed6d235b38fe68980a565a154bfc3bb79fa98f6204e04052dec","source":{"kind":"arxiv","id":"2606.05840","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.05840","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"arxiv_version","alias_value":"2606.05840v1","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05840","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_12","alias_value":"V6LQRYULGCHN","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_16","alias_value":"V6LQRYULGCHNNURV","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_8","alias_value":"V6LQRYUL","created_at":"2026-06-05T01:15:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:V6LQRYULGCHNNURVWOH6NCMAUV","target":"record","payload":{"canonical_record":{"source":{"id":"2606.05840","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-06-04T08:15:23Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"0b2471cc8aad744d80ecfd27f9a9e7221c173aa953085e2e5b2271a345acd5ef","abstract_canon_sha256":"113507c8c204d12c4cfd079f50cf331a312956e4fb42998febb77b1ec9e45877"},"schema_version":"1.0"},"canonical_sha256":"af9708e28b308ed6d235b38fe68980a565a154bfc3bb79fa98f6204e04052dec","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-05T01:15:05.280001Z","signature_b64":"4KW3kdpyIXtzY4WV9AWJfOTQx3O0hixJs493yFFZgsz45PHbUny9xa7CrWZ5m5MMVsHDh3hO9r9iSuvhyqUrAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"af9708e28b308ed6d235b38fe68980a565a154bfc3bb79fa98f6204e04052dec","last_reissued_at":"2026-06-05T01:15:05.279552Z","signature_status":"signed_v1","first_computed_at":"2026-06-05T01:15:05.279552Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.05840","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-05T01:15:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AjsDGZ9uIx4UqUpqwf7nvuAOStjKpN/xnMwxrJPR4staR0/ki46Gexo6ieWzfH6ojUavqJ4EttWrSugDVzHqCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T06:18:25.263998Z"},"content_sha256":"a36d09b43288c70c822cbea8e4e8f3e901ab3f4b5eeacd0e2da79ef29b0762b6","schema_version":"1.0","event_id":"sha256:a36d09b43288c70c822cbea8e4e8f3e901ab3f4b5eeacd0e2da79ef29b0762b6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:V6LQRYULGCHNNURVWOH6NCMAUV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Amortized Nonlinear Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Alberto Bemporad, Francesco Pillitteri","submitted_at":"2026-06-04T08:15:23Z","abstract_excerpt":"Nonlinear Model Predictive Control requires solving a constrained nonlinear program (NLP) in real-time at every sampling instant, a computational bottleneck that limits deployment on resource-constrained hardware or at high sampling rates. We address this challenge for the broad class of input-affine nonlinear systems to show that the optimal control move can be approximated by a state-dependent quadratic program (QP) whose cost parameters depend on the current state and reference. We propose a single-network residual-corrector architecture: a state-dependent analytic baseline provides initial"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05840","kind":"arxiv","version":1},"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/2606.05840/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-05T01:15:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ikfsa43Fw09z79lGriM1y3FBnq9lRtmCk/z7Y9vPnECj0hnvSgthaTgJIDFK2643p3953H1cd3MfagrYR8SPCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T06:18:25.264389Z"},"content_sha256":"c78d8e6c5e3c23ca9cc329e1bbffb8a3d1007be534c4ae92a721c960f6e0cafa","schema_version":"1.0","event_id":"sha256:c78d8e6c5e3c23ca9cc329e1bbffb8a3d1007be534c4ae92a721c960f6e0cafa"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V6LQRYULGCHNNURVWOH6NCMAUV/bundle.json","state_url":"https://pith.science/pith/V6LQRYULGCHNNURVWOH6NCMAUV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V6LQRYULGCHNNURVWOH6NCMAUV/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-04T06:18:25Z","links":{"resolver":"https://pith.science/pith/V6LQRYULGCHNNURVWOH6NCMAUV","bundle":"https://pith.science/pith/V6LQRYULGCHNNURVWOH6NCMAUV/bundle.json","state":"https://pith.science/pith/V6LQRYULGCHNNURVWOH6NCMAUV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V6LQRYULGCHNNURVWOH6NCMAUV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:V6LQRYULGCHNNURVWOH6NCMAUV","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":"113507c8c204d12c4cfd079f50cf331a312956e4fb42998febb77b1ec9e45877","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-06-04T08:15:23Z","title_canon_sha256":"0b2471cc8aad744d80ecfd27f9a9e7221c173aa953085e2e5b2271a345acd5ef"},"schema_version":"1.0","source":{"id":"2606.05840","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.05840","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"arxiv_version","alias_value":"2606.05840v1","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05840","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_12","alias_value":"V6LQRYULGCHN","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_16","alias_value":"V6LQRYULGCHNNURV","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_8","alias_value":"V6LQRYUL","created_at":"2026-06-05T01:15:05Z"}],"graph_snapshots":[{"event_id":"sha256:c78d8e6c5e3c23ca9cc329e1bbffb8a3d1007be534c4ae92a721c960f6e0cafa","target":"graph","created_at":"2026-06-05T01:15:05Z","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/2606.05840/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Nonlinear Model Predictive Control requires solving a constrained nonlinear program (NLP) in real-time at every sampling instant, a computational bottleneck that limits deployment on resource-constrained hardware or at high sampling rates. We address this challenge for the broad class of input-affine nonlinear systems to show that the optimal control move can be approximated by a state-dependent quadratic program (QP) whose cost parameters depend on the current state and reference. We propose a single-network residual-corrector architecture: a state-dependent analytic baseline provides initial","authors_text":"Alberto Bemporad, Francesco Pillitteri","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-06-04T08:15:23Z","title":"Amortized Nonlinear Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05840","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:a36d09b43288c70c822cbea8e4e8f3e901ab3f4b5eeacd0e2da79ef29b0762b6","target":"record","created_at":"2026-06-05T01:15:05Z","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":"113507c8c204d12c4cfd079f50cf331a312956e4fb42998febb77b1ec9e45877","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2026-06-04T08:15:23Z","title_canon_sha256":"0b2471cc8aad744d80ecfd27f9a9e7221c173aa953085e2e5b2271a345acd5ef"},"schema_version":"1.0","source":{"id":"2606.05840","kind":"arxiv","version":1}},"canonical_sha256":"af9708e28b308ed6d235b38fe68980a565a154bfc3bb79fa98f6204e04052dec","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"af9708e28b308ed6d235b38fe68980a565a154bfc3bb79fa98f6204e04052dec","first_computed_at":"2026-06-05T01:15:05.279552Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-05T01:15:05.279552Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4KW3kdpyIXtzY4WV9AWJfOTQx3O0hixJs493yFFZgsz45PHbUny9xa7CrWZ5m5MMVsHDh3hO9r9iSuvhyqUrAA==","signature_status":"signed_v1","signed_at":"2026-06-05T01:15:05.280001Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.05840","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a36d09b43288c70c822cbea8e4e8f3e901ab3f4b5eeacd0e2da79ef29b0762b6","sha256:c78d8e6c5e3c23ca9cc329e1bbffb8a3d1007be534c4ae92a721c960f6e0cafa"],"state_sha256":"4288e370806feb26fb91c935700813c3e67ea8793039caccf6153e0614de0892"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P1kS/cHwniqzKBDobVYZ9oLgQN02wdMXmVS+ZA4usZtYNT0jQnNV4ktT31z5Ocy6z4AH8crsssGFeu55SminDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-04T06:18:25.266338Z","bundle_sha256":"bd3502970a160376d9d2a75288b1a4451b9759ac5ee15c8545b0411796fff4d3"}}