{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:5I72EZJW3TKFO6I3GFLZGDC2LQ","short_pith_number":"pith:5I72EZJW","canonical_record":{"source":{"id":"2502.12152","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-17T18:59:06Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"13397c39b6955ea5db20151697c2b78ede51373e9a633c3d0323074e2c86768f","abstract_canon_sha256":"cc6ae0a40eea6fdfe3d6f778b653f3e0e1fde76d83c9118111efce04a1059085"},"schema_version":"1.0"},"canonical_sha256":"ea3fa26536dcd457791b3157930c5a5c2011af64f34352d891077414ead03c1f","source":{"kind":"arxiv","id":"2502.12152","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.12152","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"arxiv_version","alias_value":"2502.12152v2","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.12152","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_12","alias_value":"5I72EZJW3TKF","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_16","alias_value":"5I72EZJW3TKFO6I3","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_8","alias_value":"5I72EZJW","created_at":"2026-07-05T10:54:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:5I72EZJW3TKFO6I3GFLZGDC2LQ","target":"record","payload":{"canonical_record":{"source":{"id":"2502.12152","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-17T18:59:06Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"13397c39b6955ea5db20151697c2b78ede51373e9a633c3d0323074e2c86768f","abstract_canon_sha256":"cc6ae0a40eea6fdfe3d6f778b653f3e0e1fde76d83c9118111efce04a1059085"},"schema_version":"1.0"},"canonical_sha256":"ea3fa26536dcd457791b3157930c5a5c2011af64f34352d891077414ead03c1f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:54:43.491014Z","signature_b64":"1mXnfgpvu0ALE66c3oQjIPBHb58yWzRVaW6HDKmp65bclXzAuAExypIa9694/7juJrif6n4n00OG7riIVeFZAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ea3fa26536dcd457791b3157930c5a5c2011af64f34352d891077414ead03c1f","last_reissued_at":"2026-07-05T10:54:43.490529Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:54:43.490529Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.12152","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":"2026-07-05T10:54:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gsyqN4kagwkDuRkiWVHwNsTqKEVIMWNnw1vu3eheR9V9VqhsRyWy0nrVz5tIZX2VqF0VEn6LzbNtyS49iFwLCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T03:40:08.040530Z"},"content_sha256":"da5600f8cb62802cad5939662d0223353f2d4d27388330108f26d7f92bb5b630","schema_version":"1.0","event_id":"sha256:da5600f8cb62802cad5939662d0223353f2d4d27388330108f26d7f92bb5b630"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:5I72EZJW3TKFO6I3GFLZGDC2LQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Getting-Up Policies for Real-World Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Runpei Dong, Saurabh Gupta, Xialin He, Zixuan Chen","submitted_at":"2025-02-17T18:59:06Z","abstract_excerpt":"Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the challenging terrains humanoid robots are expected to operate on. This paper develops a learning framework to produce controllers that enable humanoid robots to get up from varying configurations on varying terrains. Unlike previous successful applications of learning to humanoid locomotion, the getting-up task involves complex contact patterns (which necessitat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.12152","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/2502.12152/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":"2026-07-05T10:54:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j+23TWsiLNNWZ6iDuE800sEeZj4a1OqMunoVeKlxcAUuWjKGYcBIAi8zjzaJWmPX+lQUAxnbgUL3MaSUvkGLDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T03:40:08.041045Z"},"content_sha256":"d682006e1682274c3957bc9ad759c7b12b543085065f176d5f2a6e8bf23a93d9","schema_version":"1.0","event_id":"sha256:d682006e1682274c3957bc9ad759c7b12b543085065f176d5f2a6e8bf23a93d9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/bundle.json","state_url":"https://pith.science/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/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":"2026-08-11T03:40:08Z","links":{"resolver":"https://pith.science/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ","bundle":"https://pith.science/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/bundle.json","state":"https://pith.science/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5I72EZJW3TKFO6I3GFLZGDC2LQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:5I72EZJW3TKFO6I3GFLZGDC2LQ","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":"cc6ae0a40eea6fdfe3d6f778b653f3e0e1fde76d83c9118111efce04a1059085","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-17T18:59:06Z","title_canon_sha256":"13397c39b6955ea5db20151697c2b78ede51373e9a633c3d0323074e2c86768f"},"schema_version":"1.0","source":{"id":"2502.12152","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.12152","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"arxiv_version","alias_value":"2502.12152v2","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.12152","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_12","alias_value":"5I72EZJW3TKF","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_16","alias_value":"5I72EZJW3TKFO6I3","created_at":"2026-07-05T10:54:43Z"},{"alias_kind":"pith_short_8","alias_value":"5I72EZJW","created_at":"2026-07-05T10:54:43Z"}],"graph_snapshots":[{"event_id":"sha256:d682006e1682274c3957bc9ad759c7b12b543085065f176d5f2a6e8bf23a93d9","target":"graph","created_at":"2026-07-05T10:54:43Z","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/2502.12152/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the challenging terrains humanoid robots are expected to operate on. This paper develops a learning framework to produce controllers that enable humanoid robots to get up from varying configurations on varying terrains. Unlike previous successful applications of learning to humanoid locomotion, the getting-up task involves complex contact patterns (which necessitat","authors_text":"Runpei Dong, Saurabh Gupta, Xialin He, Zixuan Chen","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-17T18:59:06Z","title":"Learning Getting-Up Policies for Real-World Humanoid Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.12152","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:da5600f8cb62802cad5939662d0223353f2d4d27388330108f26d7f92bb5b630","target":"record","created_at":"2026-07-05T10:54:43Z","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":"cc6ae0a40eea6fdfe3d6f778b653f3e0e1fde76d83c9118111efce04a1059085","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-17T18:59:06Z","title_canon_sha256":"13397c39b6955ea5db20151697c2b78ede51373e9a633c3d0323074e2c86768f"},"schema_version":"1.0","source":{"id":"2502.12152","kind":"arxiv","version":2}},"canonical_sha256":"ea3fa26536dcd457791b3157930c5a5c2011af64f34352d891077414ead03c1f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea3fa26536dcd457791b3157930c5a5c2011af64f34352d891077414ead03c1f","first_computed_at":"2026-07-05T10:54:43.490529Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:54:43.490529Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1mXnfgpvu0ALE66c3oQjIPBHb58yWzRVaW6HDKmp65bclXzAuAExypIa9694/7juJrif6n4n00OG7riIVeFZAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:54:43.491014Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.12152","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:da5600f8cb62802cad5939662d0223353f2d4d27388330108f26d7f92bb5b630","sha256:d682006e1682274c3957bc9ad759c7b12b543085065f176d5f2a6e8bf23a93d9"],"state_sha256":"796c06d8a8679b09409ba79be26af9380eadd693d363062d2b6dfd5de292a966"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Cs9PMSW5hHC3ZLUmi43u0Py/KzkW1bXBCaAcqXCKkWws4yTUZsuaHZrVKwlU5qSwKqw22uj+NWplKKMr3tb1Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T03:40:08.044940Z","bundle_sha256":"cda1883696cf225ffc9b8566a797f22f6aa77cbebe0ae48aa519cff832049e69"}}