{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2IPNIAQMYQ3OVYU4PWFNGLWC67","short_pith_number":"pith:2IPNIAQM","canonical_record":{"source":{"id":"2412.03353","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-04T14:36:44Z","cross_cats_sorted":[],"title_canon_sha256":"607dc068f349f4e6c4b018b28cbcf4dba6aa921b20ce0aa2e2bdae41897adfe7","abstract_canon_sha256":"8d83408b66b3037e7cab68afcf7f6000991a6322abfbf2b0668230c799899e02"},"schema_version":"1.0"},"canonical_sha256":"d21ed4020cc436eae29c7d8ad32ec2f7d52c87c02399c6f52af3b6833aaa50f9","source":{"kind":"arxiv","id":"2412.03353","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.03353","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"arxiv_version","alias_value":"2412.03353v1","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.03353","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_12","alias_value":"2IPNIAQMYQ3O","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_16","alias_value":"2IPNIAQMYQ3OVYU4","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_8","alias_value":"2IPNIAQM","created_at":"2026-07-05T09:44:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2IPNIAQMYQ3OVYU4PWFNGLWC67","target":"record","payload":{"canonical_record":{"source":{"id":"2412.03353","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-04T14:36:44Z","cross_cats_sorted":[],"title_canon_sha256":"607dc068f349f4e6c4b018b28cbcf4dba6aa921b20ce0aa2e2bdae41897adfe7","abstract_canon_sha256":"8d83408b66b3037e7cab68afcf7f6000991a6322abfbf2b0668230c799899e02"},"schema_version":"1.0"},"canonical_sha256":"d21ed4020cc436eae29c7d8ad32ec2f7d52c87c02399c6f52af3b6833aaa50f9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:44:28.249694Z","signature_b64":"btciXji0VtKKL9Ot/LJdh10NM4OTCkBrpXJYe0sO4tN4O9jo192Q4RxSHznpn8U34ELnQe0ygrZkPaXzzQZTBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d21ed4020cc436eae29c7d8ad32ec2f7d52c87c02399c6f52af3b6833aaa50f9","last_reissued_at":"2026-07-05T09:44:28.249299Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:44:28.249299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.03353","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":"2026-07-05T09:44:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vO4RqjlS0M19rg3F1xK4+59cQ8WUoVIiPpylWqX8vTrI30Mm4CUq5F8O7mtNZpXdcBvscZSlCrOf5LGEvfe9Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T06:32:08.497043Z"},"content_sha256":"38574a9711d43c6bd788c0ac59ff8041746e7d83b2d5dd9b0eb534b8f69d192c","schema_version":"1.0","event_id":"sha256:38574a9711d43c6bd788c0ac59ff8041746e7d83b2d5dd9b0eb534b8f69d192c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2IPNIAQMYQ3OVYU4PWFNGLWC67","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jun Wu, Qiuguo Zhu, Shixin Luo, Songbo Li","submitted_at":"2024-12-04T14:36:44Z","abstract_excerpt":"Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise, restricting omnidirectional mobility in such environments. While building a voxel map through a hierarchical structure can refine exteroception processing, it introduces significant computational overhead, noise, and delays. In this paper, we present MOVE, a one-stage end-to-end learning framework capable of multi-skill omnidirectional legged locomotion with limited"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.03353","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/2412.03353/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":"2026-07-05T09:44:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TqYJMQbIrA5LQh5IZ6zR2rDYnNE2JrPecH4a4l9iAqh2cv4cXmqmvG0H2GQ5JFUbJeXZ32cE4W9FGT6PP970Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T06:32:08.497594Z"},"content_sha256":"df509b9623b19b846945a030fbf148260db5c35ab642dd9d36194260e003f5fd","schema_version":"1.0","event_id":"sha256:df509b9623b19b846945a030fbf148260db5c35ab642dd9d36194260e003f5fd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/bundle.json","state_url":"https://pith.science/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/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":"2026-08-13T06:32:08Z","links":{"resolver":"https://pith.science/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67","bundle":"https://pith.science/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/bundle.json","state":"https://pith.science/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2IPNIAQMYQ3OVYU4PWFNGLWC67/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2IPNIAQMYQ3OVYU4PWFNGLWC67","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":"8d83408b66b3037e7cab68afcf7f6000991a6322abfbf2b0668230c799899e02","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-04T14:36:44Z","title_canon_sha256":"607dc068f349f4e6c4b018b28cbcf4dba6aa921b20ce0aa2e2bdae41897adfe7"},"schema_version":"1.0","source":{"id":"2412.03353","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.03353","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"arxiv_version","alias_value":"2412.03353v1","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.03353","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_12","alias_value":"2IPNIAQMYQ3O","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_16","alias_value":"2IPNIAQMYQ3OVYU4","created_at":"2026-07-05T09:44:28Z"},{"alias_kind":"pith_short_8","alias_value":"2IPNIAQM","created_at":"2026-07-05T09:44:28Z"}],"graph_snapshots":[{"event_id":"sha256:df509b9623b19b846945a030fbf148260db5c35ab642dd9d36194260e003f5fd","target":"graph","created_at":"2026-07-05T09:44:28Z","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/2412.03353/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise, restricting omnidirectional mobility in such environments. While building a voxel map through a hierarchical structure can refine exteroception processing, it introduces significant computational overhead, noise, and delays. In this paper, we present MOVE, a one-stage end-to-end learning framework capable of multi-skill omnidirectional legged locomotion with limited","authors_text":"Jun Wu, Qiuguo Zhu, Shixin Luo, Songbo Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-04T14:36:44Z","title":"MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.03353","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":"sha256:38574a9711d43c6bd788c0ac59ff8041746e7d83b2d5dd9b0eb534b8f69d192c","target":"record","created_at":"2026-07-05T09:44:28Z","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":"8d83408b66b3037e7cab68afcf7f6000991a6322abfbf2b0668230c799899e02","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-04T14:36:44Z","title_canon_sha256":"607dc068f349f4e6c4b018b28cbcf4dba6aa921b20ce0aa2e2bdae41897adfe7"},"schema_version":"1.0","source":{"id":"2412.03353","kind":"arxiv","version":1}},"canonical_sha256":"d21ed4020cc436eae29c7d8ad32ec2f7d52c87c02399c6f52af3b6833aaa50f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d21ed4020cc436eae29c7d8ad32ec2f7d52c87c02399c6f52af3b6833aaa50f9","first_computed_at":"2026-07-05T09:44:28.249299Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:44:28.249299Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"btciXji0VtKKL9Ot/LJdh10NM4OTCkBrpXJYe0sO4tN4O9jo192Q4RxSHznpn8U34ELnQe0ygrZkPaXzzQZTBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:44:28.249694Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.03353","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:38574a9711d43c6bd788c0ac59ff8041746e7d83b2d5dd9b0eb534b8f69d192c","sha256:df509b9623b19b846945a030fbf148260db5c35ab642dd9d36194260e003f5fd"],"state_sha256":"a4a4994b0d48f9a78aa12e1d040f07566bbda9a2abda4a4c00571f63b12df43d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NKWLsXRjGLdnxQ3K7xq6b66kSyrcs3VF2SWjIo2aNkC7AIExz+lFZ5KYrd2DtT6Q3HJMyfg9+YZkHpVlIz/VAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T06:32:08.502013Z","bundle_sha256":"8d143946ffae4da66499f9b6b175dd6c544f0d1f056b433dc57c504f8b832967"}}