Pith Number

pith:QMLOHJ62

pith:2024:QMLOHJ62NVY65ZTRVUCWMFBN6X

not attested not anchored not stored refs pending

Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control

Aberrahmane Kheddar, Gordon Boateng, Kai Pfeiffer, Quan Zhang, Vincent Bonnet, Yuqing Chen, Yuquan Wang

A sparse hierarchical nonlinear programming solver integrates decision-making with inverse kinematic planning and control via the ℓ0-norm.

arxiv:2412.01324 v5 · 2024-12-02 · cs.RO

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4 Citations open

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Claims

C1strongest claim

The proposed sparse hierarchical nonlinear programming solver is efficient, versatile, and accurate by exploiting sparse hierarchical structure and leveraging the ℓ0-norm which is rarely used in robotics. The solver efficiently tackles complex nonlinear hierarchical decision-making problems previously unaddressed in the literature, such as inverse kinematic planning with simultaneous prioritized selection of end-effector locations from a large set of candidates, or inverse kinematic control with simultaneous selection of bi-manual grasp locations on a randomly rotated box.

C2weakest assumption

The assumption that leveraging the ℓ0-norm in a nonlinear programming formulation will yield an efficient and accurate solver for these integrated hierarchical problems without introducing intractable non-convexity or requiring approximations that undermine the claimed advantages over mixed-integer methods.

C3one line summary

A sparse hierarchical nonlinear programming solver integrates decision-making with inverse kinematic planning and control in robotics using l0-norm sparsity.

Receipt and verification

First computed	2026-06-09T01:04:37.736016Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8316e3a7da6d71eee671ad0566142df5de2ba6b1530124876d5834e05dc3f2be

Aliases

arxiv: 2412.01324 · arxiv_version: 2412.01324v5 · doi: 10.48550/arxiv.2412.01324 · pith_short_12: QMLOHJ62NVY6 · pith_short_16: QMLOHJ62NVY65ZTR · pith_short_8: QMLOHJ62

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/QMLOHJ62NVY65ZTRVUCWMFBN6X \
  | 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: 8316e3a7da6d71eee671ad0566142df5de2ba6b1530124876d5834e05dc3f2be

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "896501078efa2c17d7f51daf386f34ccaf110eb48b714eacc6c384dd39456230",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-02T09:45:32Z",
    "title_canon_sha256": "f87b912ab3092a5ce1506a4900dc6564333afc9c146ee215d58ad4d7d5846dfd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.01324",
    "kind": "arxiv",
    "version": 5
  }
}