{"as_of":"2026-08-19T18:09:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:43db5009b28496907842c5c560f3482dccc1c00132f38f0508d629e2f14e5393","coverage":[{"denominator":28,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":28,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-15T17:21:25.376062Z","state":"measured"},{"denominator":28,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":28,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-19T06:32:44.657259+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/2508.12928/citation-record","integrity":"/paper/2508.12928/integrity","json":"/paper/2508.12928/citation-record.json","paper":"/paper/2508.12928"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.095369Z","title":"A direct method for trajectory op- timization of rigid bodies through contact,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.095369Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:2e9b7a753baacfefad47d7e8baa34b7f45bebb83fbb24e449094573a7c98aa63","observation_id":"83cf23f5-774d-4b19-ab4e-e8ae976f2082","resolution":{"observed_at":"2026-08-15T17:21:25.095369Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2309.01813","last_updated":"2025-05-05T13:36:39Z","snapshot_observed_at":"2026-08-16T15:03:23.635566Z","submitted_at":"2023-09-04T21:05:59Z","title":"Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control","version":3},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2309.01813","snapshot_observed_at":"2026-08-15T17:21:25.103745Z","title":"Inverse dynamics trajectory optimization for contact-implicit model predictive control,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.103745Z"},"links":{"cited_paper":"/paper/2309.01813","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:0735f2413a8a84a81c589874222ffd4bb6284d2cb8f13d476e791581b1ba6b9a","observation_id":"af79e844-aeda-4dc7-874f-be5e2053d9cc","resolution":{"observed_at":"2026-08-15T17:21:25.103745Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.109651Z","title":"Fast contact-implicit model predic- tive control,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.109651Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:49ee580ac2b7fe71925134458451def609d0c9d57f770888d78634a802c2ea58","observation_id":"45042c52-bf5f-4220-8c47-01f43a832734","resolution":{"observed_at":"2026-08-15T17:21:25.109651Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.254789Z","title":"Contact- implicit model predictive control: Controlling diverse quadruped mo- tions without pre-planned contact modes or trajectories,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.254789Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:c0e5d28f32e571ef2924186562e0fee1f06da2a6ad1493afdfea75a5d884a153","observation_id":"e8a120b9-c667-4726-b188-a2a9d3609ea9","resolution":{"observed_at":"2026-08-15T17:21:25.254789Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.902880Z","title":"Limits of mpcc formula- tions in direct optimal control with nonsmooth differential equations,","venue":null,"work_id":"c0593c84-7699-4236-8dfa-7ccbbc1e0e23","year":2020},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.260128Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:683e3e75761cc54a18ffb72d3049f21c37f4756bb52cac3c7ee9fc99742b226e","observation_id":"06de64f2-6f06-44ff-acec-4db938f80d28","resolution":{"observed_at":"2026-08-15T17:21:25.907992Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2108.10470","last_updated":"2021-08-25T23:42:59Z","snapshot_observed_at":"2026-07-06T11:40:56.544714Z","submitted_at":"2021-08-24T01:38:11Z","title":"Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2108.10470","snapshot_observed_at":"2026-08-15T17:21:25.265207Z","title":"Isaac gym: High performance gpu-based physics simulation for robot learning,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.265207Z"},"links":{"cited_paper":"/paper/2108.10470","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:078f8c60215db885b6bb1b79ea37350a082dd5c3f34a36a9fad182cabcf731cf","observation_id":"4a3d0331-1d60-40ac-a4fe-846d7a2dce23","resolution":{"observed_at":"2026-08-15T17:21:25.265207Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2502.08844","last_updated":"2025-02-12T23:30:01Z","snapshot_observed_at":"2026-08-18T10:37:12.291554Z","submitted_at":"2025-02-12T23:30:01Z","title":"MuJoCo Playground","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2502.08844","snapshot_observed_at":"2026-08-15T17:21:25.270760Z","title":"Mujoco playground,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.270760Z"},"links":{"cited_paper":"/paper/2502.08844","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:63af27bfdb5171258069e0b322da2a14fd7c4f0dd12579d6a3f5d41012215839","observation_id":"1915220b-0f3f-4a41-b915-29c425c5bd3e","resolution":{"observed_at":"2026-08-15T17:21:25.270760Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2212.00541","last_updated":"2022-12-24T00:50:53Z","snapshot_observed_at":"2026-08-16T16:11:44.306639Z","submitted_at":"2022-12-01T14:47:47Z","title":"Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2212.00541","snapshot_observed_at":"2026-08-15T17:21:25.275690Z","title":"Predictive sampling: Real-time behaviour synthesis with mujoco,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.275690Z"},"links":{"cited_paper":"/paper/2212.00541","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:dd3b2b509721a1532d9d0e5b469a4e78483633c85be26ad686750a789df4d48c","observation_id":"2c6fa225-742f-4aae-94f1-cd9bc8d84dcb","resolution":{"observed_at":"2026-08-15T17:21:25.275690Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2409.10469","last_updated":"2024-09-16T17:01:10Z","snapshot_observed_at":"2026-08-16T23:51:54.063944Z","submitted_at":"2024-09-16T17:01:10Z","title":"Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2409.10469","snapshot_observed_at":"2026-08-15T17:21:25.281563Z","title":"Real-time whole-body control of legged robots with model- predictive path integral control,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.281563Z"},"links":{"cited_paper":"/paper/2409.10469","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:90461c6c7604e12b3c4145ab787ff831d35563da1754a2a6a542fdcaaea536be","observation_id":"a371924e-9651-45d2-8ee2-de4b4fe7594f","resolution":{"observed_at":"2026-08-15T17:21:25.281563Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.286815Z","title":"Generative predictive control: Flow matching policies for dynamic and difficult-to-demonstrate tasks,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.286815Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:30b6e9bdc3213a554fc0e9ac9ef77f774708cff4da8decaf6b2b721f943d5da8","observation_id":"92aed0c5-e068-4181-9974-31ec978a0226","resolution":{"observed_at":"2026-08-15T17:21:25.286815Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.885925Z","title":"Learning-based legged locomotion: State of the art and future perspectives,","venue":null,"work_id":"42ce442f-80de-4f52-8253-039efc44ed35","year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.292179Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:778640e8ec08d150553afe60e1b2a5a3e77c7588c544d2cc3238a5746239b71d","observation_id":"90d3359b-082a-4d91-aac8-fe5fabfeddac","resolution":{"observed_at":"2026-08-15T17:21:25.891307Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.296933Z","title":"Learning agile loco- motion on risky terrains,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.296933Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:6652fb85cf2b0dd6b8de22b262683e9a8aae24bab07877da80f091dbd44afa06","observation_id":"87f5e77f-5d1d-4ecc-8cd9-2bdfe8142a31","resolution":{"observed_at":"2026-08-15T17:21:25.296933Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.301712Z","title":"Footstep planning on uneven terrain with mixed-integer convex optimization,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.301712Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:3df2ffe38bba766f7bc1847f4faf0c6fefecbd672e28c2479142a2e14632fb61","observation_id":"07673817-9490-4fba-b176-ff1a7fd40744","resolution":{"observed_at":"2026-08-15T17:21:25.301712Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.846342Z","title":"Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization,","venue":null,"work_id":"ad1b731e-09b0-4970-b33b-13d63aabe075","year":2017},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.306780Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:cc0a1df2e99858ee656aae9a85572c2523e11ef2da252d0906155205fa184552","observation_id":"9c745834-afbf-4395-9785-89118b2d366e","resolution":{"observed_at":"2026-08-15T17:21:25.851378Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.828951Z","title":"Efficient multicon- tact pattern generation with sequential convex approximations of the centroidal dynamics,","venue":null,"work_id":"e9f6879c-9c47-4e71-9fb2-d39e493cf326","year":2021},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.311614Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:68f348f8a32f95c2a29980efc96be35c696486cad1d75e2d9eadf2ef8e408253","observation_id":"20a78475-ab1a-43b6-b222-d7a68d19bee3","resolution":{"observed_at":"2026-08-15T17:21:25.834925Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2501.19391","last_updated":"2025-05-10T19:22:50Z","snapshot_observed_at":"2026-08-17T06:53:43.142405Z","submitted_at":"2025-01-31T18:47:21Z","title":"Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain","version":2},"cited_work":{"arxiv_id":"2501.19391","doi":null,"metadata_source":"pith","pith_arxiv_id":"2501.19391","snapshot_observed_at":"2026-08-15T17:21:25.464163Z","title":"Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain","venue":"cs.RO","work_id":"554fbd11-47fa-4fac-9650-8424d086cd08","year":2025},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.316962Z"},"links":{"cited_paper":"/paper/2501.19391","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:d7f17b23ed729dfc54a7777ddb3626b5c03643073d3d1e9115445af4f10d5989","observation_id":"05aa2a14-47a4-485e-8bda-d659ce57f329","resolution":{"observed_at":"2026-08-15T17:21:25.469825Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.812118Z","title":"Sl1m: Sparse l1-norm minimization for contact plan- ning on uneven terrain,","venue":null,"work_id":"ccd6422d-0e2a-4cc5-ad0e-9c02eca45f86","year":2020},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.321977Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:cd80c68693d2b3a4e3fd62a1c9475cf6893ae61c606805bee60516511aae76d6","observation_id":"6a76dbc7-a4cf-4839-8ae2-1c7477edde52","resolution":{"observed_at":"2026-08-15T17:21:25.817084Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2305.08926","last_updated":"2024-02-06T17:10:55Z","snapshot_observed_at":"2026-08-16T15:32:55.966444Z","submitted_at":"2023-05-15T18:02:20Z","title":"Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection","version":2},"cited_work":{"arxiv_id":"2305.08926","doi":null,"metadata_source":"pith","pith_arxiv_id":"2305.08926","snapshot_observed_at":"2026-08-15T17:21:25.440375Z","title":"Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection","venue":"cs.RO","work_id":"f2333707-f739-485e-b63e-27abeea663b9","year":2023},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.327021Z"},"links":{"cited_paper":"/paper/2305.08926","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:9e285d993327fa08de33c215b50d8bc8283e45c7005c0cf2a3a9cfdb320fa667","observation_id":"1750d212-4b75-4d95-b912-40144ada67d2","resolution":{"observed_at":"2026-08-15T17:21:25.446300Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.794855Z","title":"Monte carlo tree search gait planner for non-gaited legged system control,","venue":null,"work_id":"cb921b69-918e-45ba-bc6e-9b8f056a8355","year":2022},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.332708Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:7015d25ddc5628a3ff04fa70bdf1672e28039216c0e0d5a8857aa19b134029f0","observation_id":"68850b23-88f2-4310-b155-008e47c9d977","resolution":{"observed_at":"2026-08-15T17:21:25.800028Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.777066Z","title":"Non-gaited legged locomotion with monte-carlo tree search and supervised learning,","venue":null,"work_id":"07365219-1ddc-45c5-bedd-f800f6ad0e70","year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.338168Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:c7699a0b14d88a588ea5b85aefa92cc8ae15740cf12b13dc6d090e49bb38b61b","observation_id":"17d0e924-3c12-45a3-95cf-a73f0506994d","resolution":{"observed_at":"2026-08-15T17:21:25.783041Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.760097Z","title":"Diffusion-based learning of contact plans for agile locomotion,","venue":null,"work_id":"ae7ee342-2df4-4194-9910-764c464337a8","year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.344217Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:67cfd938d7389c2baf3d6bc5d85d17d9b56575cb1c812204b7f1641e92e656e9","observation_id":"76686e8d-07ae-4677-8efd-334d68a6c12c","resolution":{"observed_at":"2026-08-15T17:21:25.765400Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2407.11788","last_updated":"2024-12-04T09:59:19Z","snapshot_observed_at":"2026-08-16T13:33:44.286082Z","submitted_at":"2024-07-16T14:44:48Z","title":"Learning feasible transitions for efficient contact planning","version":2},"cited_work":{"arxiv_id":"2407.11788","doi":null,"metadata_source":"pith","pith_arxiv_id":"2407.11788","snapshot_observed_at":"2026-08-15T17:21:25.413715Z","title":"Learning feasible transitions for efficient contact planning","venue":"cs.RO","work_id":"68349f4d-ff7b-4f43-a707-c008523189de","year":2024},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.349129Z"},"links":{"cited_paper":"/paper/2407.11788","citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:27adee82d4da9adcc5c553d7ceac429535ebca17f41f62250bacbaefb71507d8","observation_id":"ad3da9ff-b25b-4040-84c4-9a150373fff0","resolution":{"observed_at":"2026-08-15T17:21:25.421628Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.742271Z","title":"Bandit based monte-carlo planning,","venue":null,"work_id":"b2e9b8df-8d2c-4d7f-bd67-c6c113fe3ef3","year":2006},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.354081Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:310052213b98ce3b661740bbbfad2f187dbbc5f81fc6a6081e289f93931c8c48","observation_id":"95d1006f-89a6-4914-b2c3-75b92af1e05e","resolution":{"observed_at":"2026-08-15T17:21:25.748897Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.358783Z","title":"Whole-body motion planning with centroidal dynamics and full kinematics,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.358783Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:25926adbb1d6cad24a8c236649840cda6aec9c8316d5a9e0d710ca86063e6b70","observation_id":"f0f6da74-0958-43c1-a5c0-fdeb334997f4","resolution":{"observed_at":"2026-08-15T17:21:25.358783Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.363119Z","title":"acados – a modular open-source framework for fast embedded optimal control,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.363119Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:a6a1a20d0b882599890793eb9c5869e9eba561828c7f221f441c9b13bfe32aa3","observation_id":"fd55a23f-d27b-4c19-934c-44720cdb904f","resolution":{"observed_at":"2026-08-15T17:21:25.363119Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.367101Z","title":"The pinocchio c++ library – a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.367101Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:1440eb7ddf6f20782fe8d445de99c94c7fb9908a5a01a58e9f37e7c7426ac551","observation_id":"1e8587b6-6bcb-4738-93f8-adf9abc135ca","resolution":{"observed_at":"2026-08-15T17:21:25.367101Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.371358Z","title":"CasADi – A software framework for nonlinear optimization and optimal control,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.371358Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:d259ba8ef29a836319855f35b3c4d2c98a14f95e4890b3493b3b0e65cdbe6cd7","observation_id":"97a9dd2b-40ff-4072-b064-e62106bdac3d","resolution":{"observed_at":"2026-08-15T17:21:25.371358Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-15T17:21:25.682426Z","title":"Mujoco: A physics engine for model-based control,","venue":null,"work_id":"9346ee0b-7165-4913-84cf-c027896420f5","year":2012},"citing_paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-15T17:21:25.376062Z"},"links":{"citing_paper":"/paper/2508.12928"},"observation_digest":"sha256:53f867b435c43f968c48f0586ded19ccc2e0c5a48e1b7946c498dacee3e08a3c","observation_id":"f17fe6c6-8766-4109-8a88-15be042da6be","resolution":{"observed_at":"2026-08-15T17:21:25.687933Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"2508.12928","last_updated":"2025-08-18T13:53:38Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-19T09:41:00.011603Z","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion"},"reference_resolution":{"displayed":28,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":15,"verified_exact":3,"verified_fuzzy":10},"total_outbound_references":28},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-19T06:32:44.657259+00:00","source":"crossref"},{"observed_at":"2026-08-19T06:32:39.956319+00:00","source":"retraction_watch"}],"thesis":"As of 19 August 2026, this Paper Citation Record lists 28 of 28 outbound references and 0 inbound Pith citation observations for arXiv:2508.12928."}