{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:2MDY7NT37MAUCC33XLMAUFA7KK","short_pith_number":"pith:2MDY7NT3","canonical_record":{"source":{"id":"2103.06484","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-11T06:13:09Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"8e7cc96337e8e238b86ae10146ab691b2f114a3f3148d7e899ad7679142b80aa","abstract_canon_sha256":"eeab9d64a614155989eb80fc07200240a059aede2e39376e25449b78b313e587"},"schema_version":"1.0"},"canonical_sha256":"d3078fb67bfb01410b7bbad80a141f5287987ca9d25eb9c8560b1231a4084424","source":{"kind":"arxiv","id":"2103.06484","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.06484","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"arxiv_version","alias_value":"2103.06484v2","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.06484","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_12","alias_value":"2MDY7NT37MAU","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_16","alias_value":"2MDY7NT37MAUCC33","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_8","alias_value":"2MDY7NT3","created_at":"2026-07-05T05:51:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:2MDY7NT37MAUCC33XLMAUFA7KK","target":"record","payload":{"canonical_record":{"source":{"id":"2103.06484","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-11T06:13:09Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"8e7cc96337e8e238b86ae10146ab691b2f114a3f3148d7e899ad7679142b80aa","abstract_canon_sha256":"eeab9d64a614155989eb80fc07200240a059aede2e39376e25449b78b313e587"},"schema_version":"1.0"},"canonical_sha256":"d3078fb67bfb01410b7bbad80a141f5287987ca9d25eb9c8560b1231a4084424","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:51:23.677851Z","signature_b64":"eB6Z8D1evqrhOEnw7km854KieAMFUc67jLgGIACmO3H8yJcB48ZkHny4SnZNIII7jhtnPzoTNsRfrl9YnJZLAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d3078fb67bfb01410b7bbad80a141f5287987ca9d25eb9c8560b1231a4084424","last_reissued_at":"2026-07-05T05:51:23.677489Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:51:23.677489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.06484","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:51:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ri//c7W+9bzejHPtHbgkwkpzZ/RaGW/+E2cXOP6I0dv6PPPRURfKQM09bvAYjw+SwN7Z89oIdgb/RSOOFvKLBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:27:27.357334Z"},"content_sha256":"241da55f9230dc9684ea94cc97bbe489780dc906e74024600d2a2b388ab5d292","schema_version":"1.0","event_id":"sha256:241da55f9230dc9684ea94cc97bbe489780dc906e74024600d2a2b388ab5d292"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:2MDY7NT37MAUCC33XLMAUFA7KK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Guillaume Bellegarda, Quan Nguyen, Yiyu Chen, Zhuochen Liu","submitted_at":"2021-03-11T06:13:09Z","abstract_excerpt":"Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and offset foot positions produced by trajectory generators. Both approaches typically require careful reward shaping and training for millions of time steps, and with trajectory generators introduce human bias into the resulting control policies. In this paper, we present a learning framework that leads to the natural emergence of fast and robust bounding policies "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.06484","kind":"arxiv","version":2},"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/2103.06484/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":"2026-07-05T05:51:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/+yGIDEu2dtrrxijh6GzszDq2/3hw8TRW1le65vCRTGPb4lPCFL38MwZToHazggAI3xWVytOyrbNuxEiwVzjCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:27:27.357709Z"},"content_sha256":"bc1f5f222caaa90edef4ce07cdcb4d5336df78bcdcbb4732e063f92f10bc9951","schema_version":"1.0","event_id":"sha256:bc1f5f222caaa90edef4ce07cdcb4d5336df78bcdcbb4732e063f92f10bc9951"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2MDY7NT37MAUCC33XLMAUFA7KK/bundle.json","state_url":"https://pith.science/pith/2MDY7NT37MAUCC33XLMAUFA7KK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2MDY7NT37MAUCC33XLMAUFA7KK/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":"2026-07-07T10:27:27Z","links":{"resolver":"https://pith.science/pith/2MDY7NT37MAUCC33XLMAUFA7KK","bundle":"https://pith.science/pith/2MDY7NT37MAUCC33XLMAUFA7KK/bundle.json","state":"https://pith.science/pith/2MDY7NT37MAUCC33XLMAUFA7KK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2MDY7NT37MAUCC33XLMAUFA7KK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:2MDY7NT37MAUCC33XLMAUFA7KK","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":"eeab9d64a614155989eb80fc07200240a059aede2e39376e25449b78b313e587","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-11T06:13:09Z","title_canon_sha256":"8e7cc96337e8e238b86ae10146ab691b2f114a3f3148d7e899ad7679142b80aa"},"schema_version":"1.0","source":{"id":"2103.06484","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.06484","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"arxiv_version","alias_value":"2103.06484v2","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.06484","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_12","alias_value":"2MDY7NT37MAU","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_16","alias_value":"2MDY7NT37MAUCC33","created_at":"2026-07-05T05:51:23Z"},{"alias_kind":"pith_short_8","alias_value":"2MDY7NT3","created_at":"2026-07-05T05:51:23Z"}],"graph_snapshots":[{"event_id":"sha256:bc1f5f222caaa90edef4ce07cdcb4d5336df78bcdcbb4732e063f92f10bc9951","target":"graph","created_at":"2026-07-05T05:51:23Z","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/2103.06484/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and offset foot positions produced by trajectory generators. Both approaches typically require careful reward shaping and training for millions of time steps, and with trajectory generators introduce human bias into the resulting control policies. In this paper, we present a learning framework that leads to the natural emergence of fast and robust bounding policies ","authors_text":"Guillaume Bellegarda, Quan Nguyen, Yiyu Chen, Zhuochen Liu","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-11T06:13:09Z","title":"Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.06484","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":"sha256:241da55f9230dc9684ea94cc97bbe489780dc906e74024600d2a2b388ab5d292","target":"record","created_at":"2026-07-05T05:51:23Z","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":"eeab9d64a614155989eb80fc07200240a059aede2e39376e25449b78b313e587","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-03-11T06:13:09Z","title_canon_sha256":"8e7cc96337e8e238b86ae10146ab691b2f114a3f3148d7e899ad7679142b80aa"},"schema_version":"1.0","source":{"id":"2103.06484","kind":"arxiv","version":2}},"canonical_sha256":"d3078fb67bfb01410b7bbad80a141f5287987ca9d25eb9c8560b1231a4084424","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d3078fb67bfb01410b7bbad80a141f5287987ca9d25eb9c8560b1231a4084424","first_computed_at":"2026-07-05T05:51:23.677489Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:51:23.677489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eB6Z8D1evqrhOEnw7km854KieAMFUc67jLgGIACmO3H8yJcB48ZkHny4SnZNIII7jhtnPzoTNsRfrl9YnJZLAw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:51:23.677851Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.06484","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:241da55f9230dc9684ea94cc97bbe489780dc906e74024600d2a2b388ab5d292","sha256:bc1f5f222caaa90edef4ce07cdcb4d5336df78bcdcbb4732e063f92f10bc9951"],"state_sha256":"98cb1d3b3ed8f227d82122f683f46eef1b06b5488b88086b248a18f84d2f9422"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PpDhmP9PAcRBKrfXHX2rFHATJwD+4OYTdhNVvkvfM9rwAhf0kOeJEP/m/HqiJvdCKwZfytN7hUaBtW5N86oWBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T10:27:27.359697Z","bundle_sha256":"225cf3686db918eb6118ce325a1dabab8cab320502e6372562a9636169bfc96d"}}