{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:6JNEEBKSYBVIHRT5G2O4W6ITRO","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":"23cf8ae39c3e2513fa2c7ff4ef7d57bb0061043e2c3d1dc9e5d43392b0151886","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T07:23:03Z","title_canon_sha256":"3a5bd43743b7298f59a6eac9e83c28d44b30fe4359241e2d552da03599bfed3c"},"schema_version":"1.0","source":{"id":"2605.17300","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.17300","created_at":"2026-05-20T00:03:51Z"},{"alias_kind":"arxiv_version","alias_value":"2605.17300v1","created_at":"2026-05-20T00:03:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.17300","created_at":"2026-05-20T00:03:51Z"},{"alias_kind":"pith_short_12","alias_value":"6JNEEBKSYBVI","created_at":"2026-05-20T00:03:51Z"},{"alias_kind":"pith_short_16","alias_value":"6JNEEBKSYBVIHRT5","created_at":"2026-05-20T00:03:51Z"},{"alias_kind":"pith_short_8","alias_value":"6JNEEBKS","created_at":"2026-05-20T00:03:51Z"}],"graph_snapshots":[{"event_id":"sha256:ac2525730768904efbdaf85360375f13f7e29a2586eb0834c9c9224b9dbb77d8","target":"graph","created_at":"2026-05-20T00:03:51Z","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":[{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T22:01:57.803678Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.760819Z","status":"skipped","version":"1.0.0"}],"endpoint":"/pith/2605.17300/integrity.json","findings":[],"snapshot_sha256":"955bb3bdca6b1e1c4f5b50144d4e6577edfc2507f8e68156112b4856401dc9d0","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the conflicting demands of spatial coordination, robust locomotion, and closed-chain physical interactions. To resolve this, our architecture systematically decouples high-level collaborative reasoning from low-level robust motion execution. At the high level, a centralized Joint Diffusion Policy leverages an SE(3)-invariant task-space representation to learn coordinate","authors_text":"Chen Le, Jincheng Yu, Qixuan Li, Xinlei Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T07:23:03Z","title":"HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17300","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:d798f8fa9ec25a428792191512a4a3e07bbbad4399d2056a8f8a49f4904d436f","target":"record","created_at":"2026-05-20T00:03:51Z","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":"23cf8ae39c3e2513fa2c7ff4ef7d57bb0061043e2c3d1dc9e5d43392b0151886","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T07:23:03Z","title_canon_sha256":"3a5bd43743b7298f59a6eac9e83c28d44b30fe4359241e2d552da03599bfed3c"},"schema_version":"1.0","source":{"id":"2605.17300","kind":"arxiv","version":1}},"canonical_sha256":"f25a420552c06a83c67d369dcb79138bab4e61f4178d4b1201fad40ed7202cab","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f25a420552c06a83c67d369dcb79138bab4e61f4178d4b1201fad40ed7202cab","first_computed_at":"2026-05-20T00:03:51.023924Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:03:51.023924Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LH1f4Tds2AeuxSk1GBRiSJiXTkY+dmNbSb6x9Do19AEn6PQZP7ZU2B6sUVfrpnKmVN43KBsUektze6ZXqk0yAA==","signature_status":"signed_v1","signed_at":"2026-05-20T00:03:51.024812Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.17300","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d798f8fa9ec25a428792191512a4a3e07bbbad4399d2056a8f8a49f4904d436f","sha256:ac2525730768904efbdaf85360375f13f7e29a2586eb0834c9c9224b9dbb77d8"],"state_sha256":"1587e6cbb2e604bc8c667ea3e889e491e996040360bbd26d40508dba5988b3de"}