{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:QQ2SOPT4MKER2PNLSEJXD7IM6N","short_pith_number":"pith:QQ2SOPT4","canonical_record":{"source":{"id":"2606.26341","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T19:34:41Z","cross_cats_sorted":[],"title_canon_sha256":"579cfa387eca12843985dba659a63326ff55a984444ef6263b316c333e12dddc","abstract_canon_sha256":"d20aaf43f9b1319bd38f99727e74c91d81835f37a9b2d049131f3c5b2ad69269"},"schema_version":"1.0"},"canonical_sha256":"8435273e7c62891d3dab911371fd0cf35ec57355d815f1d7b648d6db7054635d","source":{"kind":"arxiv","id":"2606.26341","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26341","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26341v1","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26341","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_12","alias_value":"QQ2SOPT4MKER","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_16","alias_value":"QQ2SOPT4MKER2PNL","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_8","alias_value":"QQ2SOPT4","created_at":"2026-06-26T00:15:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:QQ2SOPT4MKER2PNLSEJXD7IM6N","target":"record","payload":{"canonical_record":{"source":{"id":"2606.26341","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T19:34:41Z","cross_cats_sorted":[],"title_canon_sha256":"579cfa387eca12843985dba659a63326ff55a984444ef6263b316c333e12dddc","abstract_canon_sha256":"d20aaf43f9b1319bd38f99727e74c91d81835f37a9b2d049131f3c5b2ad69269"},"schema_version":"1.0"},"canonical_sha256":"8435273e7c62891d3dab911371fd0cf35ec57355d815f1d7b648d6db7054635d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-26T00:15:37.273909Z","signature_b64":"wRBPZg0jDF9Ri6Rga+N9n3UJPPfBtKewzLpK8P5dOhWxt+TvzOEwY/PEVHAx3UFskZkcZISzoksVuFzfJRuzDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8435273e7c62891d3dab911371fd0cf35ec57355d815f1d7b648d6db7054635d","last_reissued_at":"2026-06-26T00:15:37.273468Z","signature_status":"signed_v1","first_computed_at":"2026-06-26T00:15:37.273468Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.26341","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-26T00:15:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wHJwT7G71nB5lmasC6zsic+X4rPdwKDePBm5B1nTEltrgEQnqhWeugjo1+D+M/VgVeYcFaRhAQW8ekD+XGqbAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:35:22.499163Z"},"content_sha256":"9fc5b520d3ddedda1871cc35a9cf2d87f628dcfb25fb3f79ef98e631eff08dcd","schema_version":"1.0","event_id":"sha256:9fc5b520d3ddedda1871cc35a9cf2d87f628dcfb25fb3f79ef98e631eff08dcd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:QQ2SOPT4MKER2PNLSEJXD7IM6N","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Scaling Nonlinear Optimization: Many Problems One GPU","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Johanna Haffner, John Viljoen, Masayoshi Tomizuka, Negar Mehr","submitted_at":"2026-06-24T19:34:41Z","abstract_excerpt":"Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning, reduce to nonlinear programs (NLPs). Mature NLP solvers such as IPOPT can solve these problems, offering hard constraint satisfaction, optimality guarantees, and favorable scaling with problem dimension. These solvers underpin gradient-based methods in robotics, yet remain CPU-bound and solve only one problem at a time, preventing their integration into GPU-batched learning pipelines. On the other hand, sampling-based approaches such as reinforcement learning, model predictive path "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26341","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.26341/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-26T00:15:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3zUDzpU8Cm45Kv0X/+sn0liheCnj5DyObi0Y0Xq63+EiRA3bchCpfQ6VvyhxTsCMHIQZcEXCYYZr8FVO6VO5DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:35:22.499541Z"},"content_sha256":"7ae83c87d1fbaf2d97afd57e1741183489c9af7d60393080cd4061bfe20b3c9b","schema_version":"1.0","event_id":"sha256:7ae83c87d1fbaf2d97afd57e1741183489c9af7d60393080cd4061bfe20b3c9b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/bundle.json","state_url":"https://pith.science/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-27T15:35:22Z","links":{"resolver":"https://pith.science/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N","bundle":"https://pith.science/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/bundle.json","state":"https://pith.science/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QQ2SOPT4MKER2PNLSEJXD7IM6N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:QQ2SOPT4MKER2PNLSEJXD7IM6N","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":"d20aaf43f9b1319bd38f99727e74c91d81835f37a9b2d049131f3c5b2ad69269","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T19:34:41Z","title_canon_sha256":"579cfa387eca12843985dba659a63326ff55a984444ef6263b316c333e12dddc"},"schema_version":"1.0","source":{"id":"2606.26341","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26341","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26341v1","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26341","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_12","alias_value":"QQ2SOPT4MKER","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_16","alias_value":"QQ2SOPT4MKER2PNL","created_at":"2026-06-26T00:15:37Z"},{"alias_kind":"pith_short_8","alias_value":"QQ2SOPT4","created_at":"2026-06-26T00:15:37Z"}],"graph_snapshots":[{"event_id":"sha256:7ae83c87d1fbaf2d97afd57e1741183489c9af7d60393080cd4061bfe20b3c9b","target":"graph","created_at":"2026-06-26T00:15:37Z","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/2606.26341/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning, reduce to nonlinear programs (NLPs). Mature NLP solvers such as IPOPT can solve these problems, offering hard constraint satisfaction, optimality guarantees, and favorable scaling with problem dimension. These solvers underpin gradient-based methods in robotics, yet remain CPU-bound and solve only one problem at a time, preventing their integration into GPU-batched learning pipelines. On the other hand, sampling-based approaches such as reinforcement learning, model predictive path ","authors_text":"Johanna Haffner, John Viljoen, Masayoshi Tomizuka, Negar Mehr","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T19:34:41Z","title":"Scaling Nonlinear Optimization: Many Problems One GPU"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26341","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":"sha256:9fc5b520d3ddedda1871cc35a9cf2d87f628dcfb25fb3f79ef98e631eff08dcd","target":"record","created_at":"2026-06-26T00:15:37Z","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":"d20aaf43f9b1319bd38f99727e74c91d81835f37a9b2d049131f3c5b2ad69269","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T19:34:41Z","title_canon_sha256":"579cfa387eca12843985dba659a63326ff55a984444ef6263b316c333e12dddc"},"schema_version":"1.0","source":{"id":"2606.26341","kind":"arxiv","version":1}},"canonical_sha256":"8435273e7c62891d3dab911371fd0cf35ec57355d815f1d7b648d6db7054635d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8435273e7c62891d3dab911371fd0cf35ec57355d815f1d7b648d6db7054635d","first_computed_at":"2026-06-26T00:15:37.273468Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-26T00:15:37.273468Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wRBPZg0jDF9Ri6Rga+N9n3UJPPfBtKewzLpK8P5dOhWxt+TvzOEwY/PEVHAx3UFskZkcZISzoksVuFzfJRuzDg==","signature_status":"signed_v1","signed_at":"2026-06-26T00:15:37.273909Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.26341","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9fc5b520d3ddedda1871cc35a9cf2d87f628dcfb25fb3f79ef98e631eff08dcd","sha256:7ae83c87d1fbaf2d97afd57e1741183489c9af7d60393080cd4061bfe20b3c9b"],"state_sha256":"e011ed436099cd8053b11f00ef177c07c8ce78c2a49dbd52eaad6c4ec04e91ee"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F9lrHTjQaZgOvV81XBh4t5xvjBGTkLq4AZ8FpfWLsUlTsq3tJaXoXqulNDkBvdMk0hRcNQ9Bk2N0XRXPIZy0DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T15:35:22.501494Z","bundle_sha256":"26f4fad35dd875673887b1865cdcef06f32d49c4ca7b5202080a1afa3c55d9e8"}}