Pith Number

pith:VMFFHA4Q

pith:2026:VMFFHA4QMEOCA7O3WSYSPWRLY3

not attested not anchored not stored refs pending

Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation

Aditya Kamireddypalli, Calum Arnott, Daniel Layeghi, Hashim Al-Obaidi, Michael Mistry, Steve Tonneau, Thomas Corb\`{e}res

arxiv:2607.24959 v1 · 2026-07-27 · cs.RO · cs.DC · cs.LG · cs.SY · eess.SY · 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{VMFFHA4QMEOCA7O3WSYSPWRLY3}

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.

Receipt and verification

First computed	2026-07-29T00:24:55.158837Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ab0a538390611c207ddbb4b127da2bc6e88242dfe6379656be2f3d3e53490845

Aliases

arxiv: 2607.24959 · arxiv_version: 2607.24959v1 · doi: 10.48550/arxiv.2607.24959 · pith_short_12: VMFFHA4QMEOC · pith_short_16: VMFFHA4QMEOCA7O3 · pith_short_8: VMFFHA4Q

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/VMFFHA4QMEOCA7O3WSYSPWRLY3 \
  | 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: ab0a538390611c207ddbb4b127da2bc6e88242dfe6379656be2f3d3e53490845

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "92ece011b5120fba1b9c15fbb4d6de2765243c3aabfb1c5926d92dc1eab7aac5",
    "cross_cats_sorted": [
      "cs.DC",
      "cs.LG",
      "cs.SY",
      "eess.SY",
      "math.OC"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-27T18:05:46Z",
    "title_canon_sha256": "c4af42fdc6439d54262acf7a72bb9b718a794134c0d560b30d28349ddeca9f53"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.24959",
    "kind": "arxiv",
    "version": 1
  }
}