{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:5L52WMI2BX4CZRWUMTNIPHSGDB","short_pith_number":"pith:5L52WMI2","canonical_record":{"source":{"id":"2403.16356","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T01:33:03Z","cross_cats_sorted":[],"title_canon_sha256":"c6b02cecae09ec92001d907fc5b8ac9135db47bace8a1fa411c6ceb63742347d","abstract_canon_sha256":"16f623d9a9e4871e75e6630993595befb72451d2b9df248d44801511c4215cc2"},"schema_version":"1.0"},"canonical_sha256":"eafbab311a0df82cc6d464da879e4618744e236cf3845f1711f0a435aa12f72b","source":{"kind":"arxiv","id":"2403.16356","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.16356","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"arxiv_version","alias_value":"2403.16356v2","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.16356","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_12","alias_value":"5L52WMI2BX4C","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_16","alias_value":"5L52WMI2BX4CZRWU","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_8","alias_value":"5L52WMI2","created_at":"2026-07-05T08:08:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:5L52WMI2BX4CZRWUMTNIPHSGDB","target":"record","payload":{"canonical_record":{"source":{"id":"2403.16356","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T01:33:03Z","cross_cats_sorted":[],"title_canon_sha256":"c6b02cecae09ec92001d907fc5b8ac9135db47bace8a1fa411c6ceb63742347d","abstract_canon_sha256":"16f623d9a9e4871e75e6630993595befb72451d2b9df248d44801511c4215cc2"},"schema_version":"1.0"},"canonical_sha256":"eafbab311a0df82cc6d464da879e4618744e236cf3845f1711f0a435aa12f72b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:08:02.888749Z","signature_b64":"/FzR15HWEKbji7LK429QblOJl/7a/g25t4UJ80+jSj7lxKjudo9kMxrh5GVBT3cdVzBkusTSWmejbiiAwMqkCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eafbab311a0df82cc6d464da879e4618744e236cf3845f1711f0a435aa12f72b","last_reissued_at":"2026-07-05T08:08:02.888278Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:08:02.888278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.16356","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":"2026-07-05T08:08:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q7pex0n7yge24LbgWgW9+em2Y2wjXK/m1wJZO2ExkpgiButy48EMO1/1Bk6OTzJRCeQOVxwaf5BIbwMpqKBjBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-20T19:34:36.419713Z"},"content_sha256":"ed335bed8902bccbe83595763a2f1364b372849bd8091f2dec34b49b887d8d5f","schema_version":"1.0","event_id":"sha256:ed335bed8902bccbe83595763a2f1364b372849bd8091f2dec34b49b887d8d5f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:5L52WMI2BX4CZRWUMTNIPHSGDB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abdulaziz Shamsah, Jesse Jiang, Kasidit Muenprasitivej, Samuel Coogan, Ye Zhao","submitted_at":"2024-03-25T01:33:03Z","abstract_excerpt":"We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment with uncertain terrain elevation. Such terrain uncertainties induce not only untraversable regions but also robot motion perturbations. Thus, the problems of terrain mapping and locomotion stability are intertwined. We evaluate three different kernels for Gaussian process (GP) regression to learn the terrain elevation. We also learn the motion deviation result"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.16356","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/2403.16356/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":"2026-07-05T08:08:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uo5WWMBDqx8BKG3P9jP6d6hG5qOI0rrgt87dMZh7Ru716tLfODORMSI7MHZOafQYO6NZr21uLRmea3visO1KBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-20T19:34:36.420087Z"},"content_sha256":"6cdd72ccfd335b2b4b9639d268d7611523430bf1459ef53bd5c03629c995a4b1","schema_version":"1.0","event_id":"sha256:6cdd72ccfd335b2b4b9639d268d7611523430bf1459ef53bd5c03629c995a4b1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/bundle.json","state_url":"https://pith.science/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/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":"2026-07-20T19:34:36Z","links":{"resolver":"https://pith.science/pith/5L52WMI2BX4CZRWUMTNIPHSGDB","bundle":"https://pith.science/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/bundle.json","state":"https://pith.science/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5L52WMI2BX4CZRWUMTNIPHSGDB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:5L52WMI2BX4CZRWUMTNIPHSGDB","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":"16f623d9a9e4871e75e6630993595befb72451d2b9df248d44801511c4215cc2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T01:33:03Z","title_canon_sha256":"c6b02cecae09ec92001d907fc5b8ac9135db47bace8a1fa411c6ceb63742347d"},"schema_version":"1.0","source":{"id":"2403.16356","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.16356","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"arxiv_version","alias_value":"2403.16356v2","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.16356","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_12","alias_value":"5L52WMI2BX4C","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_16","alias_value":"5L52WMI2BX4CZRWU","created_at":"2026-07-05T08:08:02Z"},{"alias_kind":"pith_short_8","alias_value":"5L52WMI2","created_at":"2026-07-05T08:08:02Z"}],"graph_snapshots":[{"event_id":"sha256:6cdd72ccfd335b2b4b9639d268d7611523430bf1459ef53bd5c03629c995a4b1","target":"graph","created_at":"2026-07-05T08:08:02Z","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/2403.16356/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment with uncertain terrain elevation. Such terrain uncertainties induce not only untraversable regions but also robot motion perturbations. Thus, the problems of terrain mapping and locomotion stability are intertwined. We evaluate three different kernels for Gaussian process (GP) regression to learn the terrain elevation. We also learn the motion deviation result","authors_text":"Abdulaziz Shamsah, Jesse Jiang, Kasidit Muenprasitivej, Samuel Coogan, Ye Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T01:33:03Z","title":"Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.16356","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:ed335bed8902bccbe83595763a2f1364b372849bd8091f2dec34b49b887d8d5f","target":"record","created_at":"2026-07-05T08:08:02Z","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":"16f623d9a9e4871e75e6630993595befb72451d2b9df248d44801511c4215cc2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-25T01:33:03Z","title_canon_sha256":"c6b02cecae09ec92001d907fc5b8ac9135db47bace8a1fa411c6ceb63742347d"},"schema_version":"1.0","source":{"id":"2403.16356","kind":"arxiv","version":2}},"canonical_sha256":"eafbab311a0df82cc6d464da879e4618744e236cf3845f1711f0a435aa12f72b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eafbab311a0df82cc6d464da879e4618744e236cf3845f1711f0a435aa12f72b","first_computed_at":"2026-07-05T08:08:02.888278Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:08:02.888278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/FzR15HWEKbji7LK429QblOJl/7a/g25t4UJ80+jSj7lxKjudo9kMxrh5GVBT3cdVzBkusTSWmejbiiAwMqkCA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:08:02.888749Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.16356","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed335bed8902bccbe83595763a2f1364b372849bd8091f2dec34b49b887d8d5f","sha256:6cdd72ccfd335b2b4b9639d268d7611523430bf1459ef53bd5c03629c995a4b1"],"state_sha256":"5fdf5803969b734050b977f427c739b7d2f593cf8e3e3c39c6914d3997dc8fdf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eBXJraGSsGiM6FLVWjGgWMgy0S9MqRlLMYBpImzac1IjZOcrMOEE93Cf/X5LJ3jaTcihCIzFPswcFZh79AkmCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-20T19:34:36.422169Z","bundle_sha256":"18eda742e49c20db63588cd65b5eaa812dd7b30058653b47348d898bda5c07bd"}}