Pith Number

pith:ZYN4BW4G

pith:2024:ZYN4BW4GS2GY62IALVZKALTHA3

not attested not anchored not stored refs pending

Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing

Chaoyi Pan, Guannan Qu, Guanya Shi, Haoru Xue, Zeji Yi

arxiv:2409.15610 v1 · 2024-09-23 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZYN4BW4GS2GY62IALVZKALTHA3}

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

6 papers in Pith

Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity

Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next

Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing

GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control

Verification of Autonomous Systems with Optimal Controllers

Receipt and verification

First computed	2026-07-05T09:10:57.447182Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ce1bc0db86968d8f69005d72a02e6706e46d28d19127977692d278f9a0cb2c9a

Aliases

arxiv: 2409.15610 · arxiv_version: 2409.15610v1 · doi: 10.48550/arxiv.2409.15610 · pith_short_12: ZYN4BW4GS2GY · pith_short_16: ZYN4BW4GS2GY62IA · pith_short_8: ZYN4BW4G

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/ZYN4BW4GS2GY62IALVZKALTHA3 \
  | 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: ce1bc0db86968d8f69005d72a02e6706e46d28d19127977692d278f9a0cb2c9a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5b5b1db3f471cbf37a09d2851ba90feaae953f9a7ad0c55ce183a86dc149e92e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-23T23:34:37Z",
    "title_canon_sha256": "b67f36c60344d1475c7df97fcb5af7cd93c9b45ef3954c6d3a5608064853d225"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.15610",
    "kind": "arxiv",
    "version": 1
  }
}