{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:XN2SRBS5JOMTEFHJ2A3STKQZ46","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":"0b4f82d1a848542b7b023ef60719f2d18bf9615dbc9e67f238489bd71217c9cb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T02:47:00Z","title_canon_sha256":"65ee4247a8fa6130851599b125713c97d797bc64812d7270884c289ed4d680e8"},"schema_version":"1.0","source":{"id":"2104.13542","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.13542","created_at":"2026-07-05T03:20:45Z"},{"alias_kind":"arxiv_version","alias_value":"2104.13542v2","created_at":"2026-07-05T03:20:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.13542","created_at":"2026-07-05T03:20:45Z"},{"alias_kind":"pith_short_12","alias_value":"XN2SRBS5JOMT","created_at":"2026-07-05T03:20:45Z"},{"alias_kind":"pith_short_16","alias_value":"XN2SRBS5JOMTEFHJ","created_at":"2026-07-05T03:20:45Z"},{"alias_kind":"pith_short_8","alias_value":"XN2SRBS5","created_at":"2026-07-05T03:20:45Z"}],"graph_snapshots":[{"event_id":"sha256:fbfe0518a9ef827526ded7882f130078b3850e4a1afbf9e4f537de1aa2fe6548","target":"graph","created_at":"2026-07-05T03:20:45Z","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/2104.13542/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions. However, the computationally demanding nature of sampling-based MPC algorithms has been a key bottleneck in their application to high-dimensional robotic manipulation problems in the real world. Previous methods have addressed this issue by running MPC in the task space while relying on a low-level operational space controller for joint control. However, by not using the joint space of the robot in the MPC formulation, existing methods cannot d","authors_text":"Arsalan Mousavian, Balakumar Sundaralingam, Byron Boots, Dieter Fox, Fabio Ramos, Mohak Bhardwaj, Nathan Ratliff","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T02:47:00Z","title":"STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.13542","kind":"arxiv","version":2},"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:ae72d54361f363628e28c4fde54f359f2471022cac551bd740a694562d3051c8","target":"record","created_at":"2026-07-05T03:20:45Z","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":"0b4f82d1a848542b7b023ef60719f2d18bf9615dbc9e67f238489bd71217c9cb","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T02:47:00Z","title_canon_sha256":"65ee4247a8fa6130851599b125713c97d797bc64812d7270884c289ed4d680e8"},"schema_version":"1.0","source":{"id":"2104.13542","kind":"arxiv","version":2}},"canonical_sha256":"bb7528865d4b993214e9d03729aa19e7bf9f5d62ebc38209911ff205bf672f36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bb7528865d4b993214e9d03729aa19e7bf9f5d62ebc38209911ff205bf672f36","first_computed_at":"2026-07-05T03:20:45.821284Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:20:45.821284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1etEic4DWssSZXSdqa8YBTCOcCwBCrC0EXRhOdsIulIw6Qwl1FBy7bXScikJJIO9n+XNxswTaWHhXKt6OSoMBA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:20:45.821700Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.13542","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ae72d54361f363628e28c4fde54f359f2471022cac551bd740a694562d3051c8","sha256:fbfe0518a9ef827526ded7882f130078b3850e4a1afbf9e4f537de1aa2fe6548"],"state_sha256":"a868fff8cd7d578faa4beeb83b048bda666cd6850736883099b9c1e68254e66d"}