{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:CC7UDQC47BAIYOLLDWBRGC7PXU","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":"6155dd9805e9aa4dfa3a0e841103d5243f7971cdb4e257acc9598188150a9f9f","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-22T18:15:21Z","title_canon_sha256":"50b3f361b508488ece14b7a9a66674ff009d54af8b021908c29364546e044b9d"},"schema_version":"1.0","source":{"id":"2412.17118","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.17118","created_at":"2026-07-05T09:53:17Z"},{"alias_kind":"arxiv_version","alias_value":"2412.17118v1","created_at":"2026-07-05T09:53:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.17118","created_at":"2026-07-05T09:53:17Z"},{"alias_kind":"pith_short_12","alias_value":"CC7UDQC47BAI","created_at":"2026-07-05T09:53:17Z"},{"alias_kind":"pith_short_16","alias_value":"CC7UDQC47BAIYOLL","created_at":"2026-07-05T09:53:17Z"},{"alias_kind":"pith_short_8","alias_value":"CC7UDQC4","created_at":"2026-07-05T09:53:17Z"}],"graph_snapshots":[{"event_id":"sha256:bb528c8744f69632adb31aa60adb671524f33890766d25e18fa0a6cd0b4bafdf","target":"graph","created_at":"2026-07-05T09:53:17Z","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/2412.17118/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI methods often struggle with sample efficiency and computational costs due to suboptimal initial rollouts. We propose TransformerMPPI, which uses a transformer trained on historical control data to generate informed initial mean control sequences. TransformerMPPI combines the strengths of the attention mechanism in transformers and sampling-based control, leading to improved computational performance and sample efficie","authors_text":"Efstathios Bakolas, Shrenik Zinage, Vrushabh Zinage","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-22T18:15:21Z","title":"Transformer-Based Model Predictive Path Integral Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.17118","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":"sha256:523a84980b80a3e85423b8c111d76fdad649d480e1271753b5fc876a993df1ab","target":"record","created_at":"2026-07-05T09:53:17Z","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":"6155dd9805e9aa4dfa3a0e841103d5243f7971cdb4e257acc9598188150a9f9f","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-22T18:15:21Z","title_canon_sha256":"50b3f361b508488ece14b7a9a66674ff009d54af8b021908c29364546e044b9d"},"schema_version":"1.0","source":{"id":"2412.17118","kind":"arxiv","version":1}},"canonical_sha256":"10bf41c05cf8408c396b1d83130befbd3030fd519b371f6d3383a236c6c6711f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"10bf41c05cf8408c396b1d83130befbd3030fd519b371f6d3383a236c6c6711f","first_computed_at":"2026-07-05T09:53:17.819222Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:53:17.819222Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BefJf1qdQsUsGmd57zqj+K9nEcx2xJemmyDdlAL0odL76AdHbIjaO9+pN9WhUtoz1VBSoUrJ9Gc9wBmNvltKBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:53:17.819701Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.17118","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:523a84980b80a3e85423b8c111d76fdad649d480e1271753b5fc876a993df1ab","sha256:bb528c8744f69632adb31aa60adb671524f33890766d25e18fa0a6cd0b4bafdf"],"state_sha256":"d65d2d06f8d1f2f794ce57c0c82cc16ace7655d2e79f9f3ce62c293fdd968e4d"}