{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:XHJOCIVIJFZ54BMBGPTYEWQNG2","short_pith_number":"pith:XHJOCIVI","schema_version":"1.0","canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","source":{"kind":"arxiv","id":"2210.03442","version":1},"attestation_state":"computed","paper":{"title":"Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rigo, Quan Nguyen, Satyandra K. Gupta, Yiyu Chen","submitted_at":"2022-10-07T10:22:51Z","abstract_excerpt":"Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing, to drive the object to the desired location. In this paper, we present a novel hierarchical model predictive control (MPC) for contact optimization of the manipulation task. Using two cascading MPCs, we split the loco-manipulation problem into two parts: the first to optimize both contact force and contact location between the robot and the object, and the se"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2210.03442","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-07T10:22:51Z","cross_cats_sorted":[],"title_canon_sha256":"a1b4be093121475b8be5a417663407e50092c3bf2956fb6a55a6637f5daea3f9","abstract_canon_sha256":"ce2a94f9814105b81672bc8ec4904ed28108629402a04f8227c3edcba9fb949a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:04:20.251498Z","signature_b64":"LZKTqDOEanVuOzpL66SrQwCB3mmgvppIfDFqXsOHHvQGxdS9g8zuXFKHD3uSeShMNlH52GU/YcwRZjNlEEuxBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b9d2e122a84973de058133e7825a0d368a82ed4fee19c103f75a3ce02502ef64","last_reissued_at":"2026-07-05T05:04:20.251032Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:04:20.251032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rigo, Quan Nguyen, Satyandra K. Gupta, Yiyu Chen","submitted_at":"2022-10-07T10:22:51Z","abstract_excerpt":"Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing, to drive the object to the desired location. In this paper, we present a novel hierarchical model predictive control (MPC) for contact optimization of the manipulation task. Using two cascading MPCs, we split the loco-manipulation problem into two parts: the first to optimize both contact force and contact location between the robot and the object, and the se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.03442","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/2210.03442/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2210.03442","created_at":"2026-07-05T05:04:20.251090+00:00"},{"alias_kind":"arxiv_version","alias_value":"2210.03442v1","created_at":"2026-07-05T05:04:20.251090+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.03442","created_at":"2026-07-05T05:04:20.251090+00:00"},{"alias_kind":"pith_short_12","alias_value":"XHJOCIVIJFZ5","created_at":"2026-07-05T05:04:20.251090+00:00"},{"alias_kind":"pith_short_16","alias_value":"XHJOCIVIJFZ54BMB","created_at":"2026-07-05T05:04:20.251090+00:00"},{"alias_kind":"pith_short_8","alias_value":"XHJOCIVI","created_at":"2026-07-05T05:04:20.251090+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2","json":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2.json","graph_json":"https://pith.science/api/pith-number/XHJOCIVIJFZ54BMBGPTYEWQNG2/graph.json","events_json":"https://pith.science/api/pith-number/XHJOCIVIJFZ54BMBGPTYEWQNG2/events.json","paper":"https://pith.science/paper/XHJOCIVI"},"agent_actions":{"view_html":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2","download_json":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2.json","view_paper":"https://pith.science/paper/XHJOCIVI","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2210.03442&json=true","fetch_graph":"https://pith.science/api/pith-number/XHJOCIVIJFZ54BMBGPTYEWQNG2/graph.json","fetch_events":"https://pith.science/api/pith-number/XHJOCIVIJFZ54BMBGPTYEWQNG2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/action/storage_attestation","attest_author":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/action/author_attestation","sign_citation":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/action/citation_signature","submit_replication":"https://pith.science/pith/XHJOCIVIJFZ54BMBGPTYEWQNG2/action/replication_record"}},"created_at":"2026-07-05T05:04:20.251090+00:00","updated_at":"2026-07-05T05:04:20.251090+00:00"}