Pith Number

pith:D5IVM4BP

pith:2026:D5IVM4BP3JBKMT47HRKKO62DXN

not attested not anchored not stored refs pending

Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking

Dennis Mronga, Felix Wiebe, Franek Stark, Frank Kirchner, Shubham Vyas

A multi-phase MPC uses a full body model only near term and a simpler rigid-body model farther ahead to control bipedal walking in real time.

arxiv:2605.04607 v2 · 2026-05-06 · cs.RO

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\usepackage{pith}
\pithnumber{D5IVM4BP3JBKMT47HRKKO62DXN}

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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.

Claims

C1strongest claim

This paper presents a multi-phase whole-body model predictive control approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplified single-rigid-body model in the later prediction steps. This reduces computational complexity while retaining prediction capabilities.

C2weakest assumption

The simplified single-rigid-body model remains sufficiently accurate over the longer prediction horizon that the overall closed-loop walking behavior stays stable and the torque commands remain feasible when transferred to the real robot.

C3one line summary

A real-time MPC for bipedal robots uses a detailed whole-body model near-term and a simplified rigid-body model later, solved with SQP in acados and tested in MuJoCo simulation on the HyPer-2 robot.

Receipt and verification

First computed	2026-06-04T01:09:50.501783Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1f5156702fda42a64f9f3c54a77b43bb655ac43cc3c50477716cc3f1f5268892

Aliases

arxiv: 2605.04607 · arxiv_version: 2605.04607v2 · doi: 10.48550/arxiv.2605.04607 · pith_short_12: D5IVM4BP3JBK · pith_short_16: D5IVM4BP3JBKMT47 · pith_short_8: D5IVM4BP

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/D5IVM4BP3JBKMT47HRKKO62DXN \
  | 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: 1f5156702fda42a64f9f3c54a77b43bb655ac43cc3c50477716cc3f1f5268892

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ab56878a2dae6016cd925a24c7c606674520195c4ca35f136c731521dc0b9c96",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-06T07:54:49Z",
    "title_canon_sha256": "fb6823b11a18a096d8b559fe1fdcabef6968f9236e09fabbbee373c3ba0c1c0a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.04607",
    "kind": "arxiv",
    "version": 2
  }
}