{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:3AN4MXISR5JSZSDX6XYUCB7ESD","short_pith_number":"pith:3AN4MXIS","canonical_record":{"source":{"id":"2606.00637","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-30T09:23:07Z","cross_cats_sorted":[],"title_canon_sha256":"48ca4becf041cbffc3e0f845eebc061211e5509e933a260a4a83df46749fb849","abstract_canon_sha256":"f40617b82a701cae6568c4f8d258c557f1f6ccbdf317134bdced7255154f6b0d"},"schema_version":"1.0"},"canonical_sha256":"d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4","source":{"kind":"arxiv","id":"2606.00637","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.00637","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"arxiv_version","alias_value":"2606.00637v1","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.00637","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_12","alias_value":"3AN4MXISR5JS","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_16","alias_value":"3AN4MXISR5JSZSDX","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_8","alias_value":"3AN4MXIS","created_at":"2026-06-02T01:04:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:3AN4MXISR5JSZSDX6XYUCB7ESD","target":"record","payload":{"canonical_record":{"source":{"id":"2606.00637","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-30T09:23:07Z","cross_cats_sorted":[],"title_canon_sha256":"48ca4becf041cbffc3e0f845eebc061211e5509e933a260a4a83df46749fb849","abstract_canon_sha256":"f40617b82a701cae6568c4f8d258c557f1f6ccbdf317134bdced7255154f6b0d"},"schema_version":"1.0"},"canonical_sha256":"d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-02T01:04:00.529387Z","signature_b64":"adr3Dr6a4IJWN7Rrt5U5U7+B6so6KcJLtNgWZq+5hjhc4J6RRnMlPNTpvE4ai7aJZ+bdb/6mWAnbCLqaRFHrBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4","last_reissued_at":"2026-06-02T01:04:00.528822Z","signature_status":"signed_v1","first_computed_at":"2026-06-02T01:04:00.528822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.00637","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":"2026-06-02T01:04:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4mCUyXfc+lOYzNvAXizn1eTIndhc7u41FYJT2SXneFKd2OWqxD4MmfBg0IGkWJ8NFGozNU/QXFBPMexIXVY/BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:33:59.560171Z"},"content_sha256":"9095d625cefdba0289165bc2695510c418bfb40955ffc5eaf77ec469dd8b95a2","schema_version":"1.0","event_id":"sha256:9095d625cefdba0289165bc2695510c418bfb40955ffc5eaf77ec469dd8b95a2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:3AN4MXISR5JSZSDX6XYUCB7ESD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Liyun Yan, Shengcheng Fu, Yang Zhang, Yizhi Chen, Yue Gao, Yunpeng Yin, Zhanxiang Cao","submitted_at":"2026-05-30T09:23:07Z","abstract_excerpt":"Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still struggle on sparse-foothold terrain and constrained environments. Success in these scenarios requires both broad terrain awareness and precise foothold selection, two perceptual roles that conventional encoders often entangle. To address this challenge, we propose Global-Local Attention Decomposition (GLAD) for terrain encoding in humanoid locomotion. Realized by a coarse-to-fine encoder over a robot-centric elevation map, GLAD explicitly separates these objectives: a global attention bran"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.00637","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/2606.00637/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":"2026-06-02T01:04:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d4xVOXIPLLHXY/pkX6mEgEEBA+GgmepR9UqKf2MtrhN1ij8kPs+26nc54A7MYkUc4txi6hx2/cSLLh0Cd5S+Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:33:59.560916Z"},"content_sha256":"3197374d3708cefd79040a8caee3e30aaff9345610c1eea9f36ea6424985d6ef","schema_version":"1.0","event_id":"sha256:3197374d3708cefd79040a8caee3e30aaff9345610c1eea9f36ea6424985d6ef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/bundle.json","state_url":"https://pith.science/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/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":"2026-06-06T18:33:59Z","links":{"resolver":"https://pith.science/pith/3AN4MXISR5JSZSDX6XYUCB7ESD","bundle":"https://pith.science/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/bundle.json","state":"https://pith.science/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3AN4MXISR5JSZSDX6XYUCB7ESD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:3AN4MXISR5JSZSDX6XYUCB7ESD","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":"f40617b82a701cae6568c4f8d258c557f1f6ccbdf317134bdced7255154f6b0d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-30T09:23:07Z","title_canon_sha256":"48ca4becf041cbffc3e0f845eebc061211e5509e933a260a4a83df46749fb849"},"schema_version":"1.0","source":{"id":"2606.00637","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.00637","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"arxiv_version","alias_value":"2606.00637v1","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.00637","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_12","alias_value":"3AN4MXISR5JS","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_16","alias_value":"3AN4MXISR5JSZSDX","created_at":"2026-06-02T01:04:00Z"},{"alias_kind":"pith_short_8","alias_value":"3AN4MXIS","created_at":"2026-06-02T01:04:00Z"}],"graph_snapshots":[{"event_id":"sha256:3197374d3708cefd79040a8caee3e30aaff9345610c1eea9f36ea6424985d6ef","target":"graph","created_at":"2026-06-02T01:04:00Z","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/2606.00637/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still struggle on sparse-foothold terrain and constrained environments. Success in these scenarios requires both broad terrain awareness and precise foothold selection, two perceptual roles that conventional encoders often entangle. To address this challenge, we propose Global-Local Attention Decomposition (GLAD) for terrain encoding in humanoid locomotion. Realized by a coarse-to-fine encoder over a robot-centric elevation map, GLAD explicitly separates these objectives: a global attention bran","authors_text":"Liyun Yan, Shengcheng Fu, Yang Zhang, Yizhi Chen, Yue Gao, Yunpeng Yin, Zhanxiang Cao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-30T09:23:07Z","title":"Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.00637","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":"sha256:9095d625cefdba0289165bc2695510c418bfb40955ffc5eaf77ec469dd8b95a2","target":"record","created_at":"2026-06-02T01:04:00Z","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":"f40617b82a701cae6568c4f8d258c557f1f6ccbdf317134bdced7255154f6b0d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-30T09:23:07Z","title_canon_sha256":"48ca4becf041cbffc3e0f845eebc061211e5509e933a260a4a83df46749fb849"},"schema_version":"1.0","source":{"id":"2606.00637","kind":"arxiv","version":1}},"canonical_sha256":"d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4","first_computed_at":"2026-06-02T01:04:00.528822Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T01:04:00.528822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"adr3Dr6a4IJWN7Rrt5U5U7+B6so6KcJLtNgWZq+5hjhc4J6RRnMlPNTpvE4ai7aJZ+bdb/6mWAnbCLqaRFHrBQ==","signature_status":"signed_v1","signed_at":"2026-06-02T01:04:00.529387Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.00637","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9095d625cefdba0289165bc2695510c418bfb40955ffc5eaf77ec469dd8b95a2","sha256:3197374d3708cefd79040a8caee3e30aaff9345610c1eea9f36ea6424985d6ef"],"state_sha256":"396103b724f60a3de742feb869d9417ac5ea5ead04c00fae6996e5903cc8917b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"soz0jcz1m6QruKUlOt82amL2NHGn6Ie0ZxiL5Jn3ZoGh/YQslP8fpUm0/8+PxVWaxTk196hcGFZYJ4rIZW23Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T18:33:59.564545Z","bundle_sha256":"9e24d893055a8a9985ab72e6048df7df92852092241c4d7d151f683b082c5357"}}