Pith Number

pith:YEPX2S6I

pith:2026:YEPX2S6IPSEMWTZOZO7OTLTQ5P

not attested not anchored not stored refs pending

Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic

Hannes Homburger, Johannes Reuter, Lothar Kiltz, Matthias Althoff, Patrick Halder

Non-uniform quantization and bit-shifting turn lexicographic STL optimization into a single scalar problem.

arxiv:2604.20428 v2 · 2026-04-22 · cs.RO

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\usepackage{pith}
\pithnumber{YEPX2S6IPSEMWTZOZO7OTLTQ5P}

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Record completeness

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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

We address this problem by transforming the multi-objective lexicographic optimization problem into a single-objective scalar optimization problem using non-uniform quantization and bit-shifting.

C2weakest assumption

That the non-uniform quantization and bit-shifting accurately preserve the lexicographic ordering without significant loss of optimality or introduction of artifacts in the optimization landscape.

C3one line summary

Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.

Receipt and verification

First computed	2026-06-12T01:09:27.999700Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c11f7d4bc87c88cb4f2ecbbee9ae70ebd296b2af95fa990aa1d87babcc57c112

Aliases

arxiv: 2604.20428 · arxiv_version: 2604.20428v2 · doi: 10.48550/arxiv.2604.20428 · pith_short_12: YEPX2S6IPSEM · pith_short_16: YEPX2S6IPSEMWTZO · pith_short_8: YEPX2S6I

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/YEPX2S6IPSEMWTZOZO7OTLTQ5P \
  | 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: c11f7d4bc87c88cb4f2ecbbee9ae70ebd296b2af95fa990aa1d87babcc57c112

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7d2dcb7e8650e50e7899e8e5535ad35d666247726a64f57065b99a34c139cd08",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-22T10:49:09Z",
    "title_canon_sha256": "0f4f898460616a72e643c3ace5acf619c33e01c3d2fde6bce96f114c0175fd6d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.20428",
    "kind": "arxiv",
    "version": 2
  }
}