{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:2KDWBLYODCWO7ML2G7IHSZZ274","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":"f3888070a5f4358adae9d1e3cc44d29ecbda6cf2034e6c2b879f576e40db60fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T17:16:50Z","title_canon_sha256":"fce40ebb9e4c0a4778bbe2cc819a793537563f1509cb5a5bfd8b4fb585189335"},"schema_version":"1.0","source":{"id":"2507.11498","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.11498","created_at":"2026-07-05T11:38:09Z"},{"alias_kind":"arxiv_version","alias_value":"2507.11498v2","created_at":"2026-07-05T11:38:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.11498","created_at":"2026-07-05T11:38:09Z"},{"alias_kind":"pith_short_12","alias_value":"2KDWBLYODCWO","created_at":"2026-07-05T11:38:09Z"},{"alias_kind":"pith_short_16","alias_value":"2KDWBLYODCWO7ML2","created_at":"2026-07-05T11:38:09Z"},{"alias_kind":"pith_short_8","alias_value":"2KDWBLYO","created_at":"2026-07-05T11:38:09Z"}],"graph_snapshots":[{"event_id":"sha256:0e8d4d197eefac8da7f147e015080c4789e4cff4d4859ecc910d3f4205d66eb9","target":"graph","created_at":"2026-07-05T11:38:09Z","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/2507.11498/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges, including split-second timing, rapid contacts, and multi-limb coordination over performances lasting minutes. In this paper, we introduce Robot Drummer, a humanoid capable of expressive, high-precision drumming across a diverse repertoire of songs. We formulate humanoid drumming as sequential fulfillment of timed contacts and transform drum scores into a Rhythmic C","authors_text":"Asad Ali Shahid, Francesco Braghin, Loris Roveda","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T17:16:50Z","title":"Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.11498","kind":"arxiv","version":2},"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":"sha256:32cfff71b80faf62bc5a6f7de1b01781bdc54cb2bfd6bfe1d6e78ced1742bb98","target":"record","created_at":"2026-07-05T11:38:09Z","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":"f3888070a5f4358adae9d1e3cc44d29ecbda6cf2034e6c2b879f576e40db60fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T17:16:50Z","title_canon_sha256":"fce40ebb9e4c0a4778bbe2cc819a793537563f1509cb5a5bfd8b4fb585189335"},"schema_version":"1.0","source":{"id":"2507.11498","kind":"arxiv","version":2}},"canonical_sha256":"d28760af0e18acefb17a37d079673aff1ea19f327d13b24625e14a595df76c5e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d28760af0e18acefb17a37d079673aff1ea19f327d13b24625e14a595df76c5e","first_computed_at":"2026-07-05T11:38:09.981338Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:38:09.981338Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0jRULDvnzSq9y2IYXU466wywFMLZGTK+Xp1OH7nPcOLe0D0Gsjf08OctiO31H8IjK+tQGTZwyZVoca8KxvHSAg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:38:09.981907Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.11498","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:32cfff71b80faf62bc5a6f7de1b01781bdc54cb2bfd6bfe1d6e78ced1742bb98","sha256:0e8d4d197eefac8da7f147e015080c4789e4cff4d4859ecc910d3f4205d66eb9"],"state_sha256":"622f11505c38f1248cf7790d4f5fa7d721d40e2bdc7f88992c4b0da647de9f24"}