{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:4SEREQLPIHR45GP22B3XYTPHFN","short_pith_number":"pith:4SEREQLP","canonical_record":{"source":{"id":"2006.09921","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-17T15:04:24Z","cross_cats_sorted":[],"title_canon_sha256":"eec901e49844e0150aef10860e47b8ff1606eff792670652e0f44ee7883c1422","abstract_canon_sha256":"739116864163fa1f569df06269ac57905998328ad57c0385174f536fb6c25710"},"schema_version":"1.0"},"canonical_sha256":"e48912416f41e3ce99fad0777c4de72b7ccbc45117bf83f4c62fdde8582f0bf5","source":{"kind":"arxiv","id":"2006.09921","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.09921","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"arxiv_version","alias_value":"2006.09921v3","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.09921","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_12","alias_value":"4SEREQLPIHR4","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_16","alias_value":"4SEREQLPIHR45GP2","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_8","alias_value":"4SEREQLP","created_at":"2026-07-05T02:01:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:4SEREQLPIHR45GP22B3XYTPHFN","target":"record","payload":{"canonical_record":{"source":{"id":"2006.09921","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-17T15:04:24Z","cross_cats_sorted":[],"title_canon_sha256":"eec901e49844e0150aef10860e47b8ff1606eff792670652e0f44ee7883c1422","abstract_canon_sha256":"739116864163fa1f569df06269ac57905998328ad57c0385174f536fb6c25710"},"schema_version":"1.0"},"canonical_sha256":"e48912416f41e3ce99fad0777c4de72b7ccbc45117bf83f4c62fdde8582f0bf5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:01:12.642458Z","signature_b64":"iPqp2q9qnqYq81a9AB71Ms23G6/V1E94dvQw2jiHd1XcWRNxldTh+jizkbofPVHaIy6C4oajUxbgj6kuwathDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e48912416f41e3ce99fad0777c4de72b7ccbc45117bf83f4c62fdde8582f0bf5","last_reissued_at":"2026-07-05T02:01:12.642029Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:01:12.642029Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2006.09921","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:01:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wHpEY0UpWFdJFLr0hG0aRejXhax53go1t2nDTnoMi64Q3a1wyroi8j1Ndjufy8EadVlg800uwHcH+0llzC43DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T09:40:17.443655Z"},"content_sha256":"c6d62384bc1e384b1414034fb1375aba74ecadd614a73c85174331932302fab0","schema_version":"1.0","event_id":"sha256:c6d62384bc1e384b1414034fb1375aba74ecadd614a73c85174331932302fab0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:4SEREQLPIHR45GP22B3XYTPHFN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Approximate Simulation for Template-Based Whole-Body Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hai Lin, Patrick M. Wensing, Vince Kurtz","submitted_at":"2020-06-17T15:04:24Z","abstract_excerpt":"Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded in the formal framework of approximate simulation. Our central contribution is to demonstrate how the Hamiltonian structure of rigid-body dynamics can be exploited to establish approximate simulation for a high-dimensional nonlinear system. The resulting controller is passive, more robust to push d"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.09921","kind":"arxiv","version":3},"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/2006.09921/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":"2026-07-05T02:01:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rgwHp9k37VaRZq6OqlThYMkp0LZQ7ugZOuFqMDwZDdn1oB+JzSSz/DdXPlDmYRZECWPvQICX4E3dgbs3CURwAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T09:40:17.444038Z"},"content_sha256":"699528d4974eec5f5aa6901a68027bc253d98219914177cbf8ba72d0cf557e62","schema_version":"1.0","event_id":"sha256:699528d4974eec5f5aa6901a68027bc253d98219914177cbf8ba72d0cf557e62"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4SEREQLPIHR45GP22B3XYTPHFN/bundle.json","state_url":"https://pith.science/pith/4SEREQLPIHR45GP22B3XYTPHFN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4SEREQLPIHR45GP22B3XYTPHFN/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":"2026-07-10T09:40:17Z","links":{"resolver":"https://pith.science/pith/4SEREQLPIHR45GP22B3XYTPHFN","bundle":"https://pith.science/pith/4SEREQLPIHR45GP22B3XYTPHFN/bundle.json","state":"https://pith.science/pith/4SEREQLPIHR45GP22B3XYTPHFN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4SEREQLPIHR45GP22B3XYTPHFN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:4SEREQLPIHR45GP22B3XYTPHFN","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":"739116864163fa1f569df06269ac57905998328ad57c0385174f536fb6c25710","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-17T15:04:24Z","title_canon_sha256":"eec901e49844e0150aef10860e47b8ff1606eff792670652e0f44ee7883c1422"},"schema_version":"1.0","source":{"id":"2006.09921","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2006.09921","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"arxiv_version","alias_value":"2006.09921v3","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2006.09921","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_12","alias_value":"4SEREQLPIHR4","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_16","alias_value":"4SEREQLPIHR45GP2","created_at":"2026-07-05T02:01:12Z"},{"alias_kind":"pith_short_8","alias_value":"4SEREQLP","created_at":"2026-07-05T02:01:12Z"}],"graph_snapshots":[{"event_id":"sha256:699528d4974eec5f5aa6901a68027bc253d98219914177cbf8ba72d0cf557e62","target":"graph","created_at":"2026-07-05T02:01:12Z","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/2006.09921/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded in the formal framework of approximate simulation. Our central contribution is to demonstrate how the Hamiltonian structure of rigid-body dynamics can be exploited to establish approximate simulation for a high-dimensional nonlinear system. The resulting controller is passive, more robust to push d","authors_text":"Hai Lin, Patrick M. Wensing, Vince Kurtz","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-17T15:04:24Z","title":"Approximate Simulation for Template-Based Whole-Body Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2006.09921","kind":"arxiv","version":3},"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:c6d62384bc1e384b1414034fb1375aba74ecadd614a73c85174331932302fab0","target":"record","created_at":"2026-07-05T02:01:12Z","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":"739116864163fa1f569df06269ac57905998328ad57c0385174f536fb6c25710","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-06-17T15:04:24Z","title_canon_sha256":"eec901e49844e0150aef10860e47b8ff1606eff792670652e0f44ee7883c1422"},"schema_version":"1.0","source":{"id":"2006.09921","kind":"arxiv","version":3}},"canonical_sha256":"e48912416f41e3ce99fad0777c4de72b7ccbc45117bf83f4c62fdde8582f0bf5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e48912416f41e3ce99fad0777c4de72b7ccbc45117bf83f4c62fdde8582f0bf5","first_computed_at":"2026-07-05T02:01:12.642029Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:01:12.642029Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iPqp2q9qnqYq81a9AB71Ms23G6/V1E94dvQw2jiHd1XcWRNxldTh+jizkbofPVHaIy6C4oajUxbgj6kuwathDg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:01:12.642458Z","signed_message":"canonical_sha256_bytes"},"source_id":"2006.09921","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6d62384bc1e384b1414034fb1375aba74ecadd614a73c85174331932302fab0","sha256:699528d4974eec5f5aa6901a68027bc253d98219914177cbf8ba72d0cf557e62"],"state_sha256":"18bf9cc8e9b87526621faba612fe34b1b5bd45bb200b515f76331f006f18403b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9MNP/NCzHzRm2cIZd5pugYYyWyEqO5EDdymuZ1S1htT21bhqx1G7F87hz4IfiFR6qnaLmb4b7cX6ScAvg+nmBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-10T09:40:17.445914Z","bundle_sha256":"349c5e28c3040ea57eac057bbeb52980fc195ee956a5b769f4bca463b56b047f"}}