{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:6JQROA6XZAF3T3BTZDWD4OVSOT","short_pith_number":"pith:6JQROA6X","canonical_record":{"source":{"id":"2306.07092","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T13:10:14Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a6b4d306c362ab3ce1d9c545dae21c64695d0034093a8961de371f1b4e20d32d","abstract_canon_sha256":"64a99381bfbda7f8d9eb4d8499e38795be314e45ee6e4c989bb714461c1a22b6"},"schema_version":"1.0"},"canonical_sha256":"f2611703d7c80bb9ec33c8ec3e3ab274dd101152b166811418c0c00e734d9613","source":{"kind":"arxiv","id":"2306.07092","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.07092","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"arxiv_version","alias_value":"2306.07092v3","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.07092","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_12","alias_value":"6JQROA6XZAF3","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_16","alias_value":"6JQROA6XZAF3T3BT","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_8","alias_value":"6JQROA6X","created_at":"2026-07-05T07:05:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:6JQROA6XZAF3T3BTZDWD4OVSOT","target":"record","payload":{"canonical_record":{"source":{"id":"2306.07092","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T13:10:14Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"a6b4d306c362ab3ce1d9c545dae21c64695d0034093a8961de371f1b4e20d32d","abstract_canon_sha256":"64a99381bfbda7f8d9eb4d8499e38795be314e45ee6e4c989bb714461c1a22b6"},"schema_version":"1.0"},"canonical_sha256":"f2611703d7c80bb9ec33c8ec3e3ab274dd101152b166811418c0c00e734d9613","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:05:09.715343Z","signature_b64":"Xbp24Qtrf4ndGtHZ3gYoSNxOlmu2rMHiW4RYArZBaWNIcQyWaWQ1H5ZdBw5EidcyWyf98fLoQ293aZOtNIMtBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f2611703d7c80bb9ec33c8ec3e3ab274dd101152b166811418c0c00e734d9613","last_reissued_at":"2026-07-05T07:05:09.714815Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:05:09.714815Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.07092","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":"2026-07-05T07:05:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1EHjNVjViZ6MwAUrZOI1OIVHiboGdQL+kumTyFNVDztNi8PxZ6C4KGAyIJiGK6M/68ogAvOxFG+R2rvlQB/UCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:06:47.108416Z"},"content_sha256":"c15a3880671a46814b314d291f565141d5e8d9d3b552129bb326a425d8b7093f","schema_version":"1.0","event_id":"sha256:c15a3880671a46814b314d291f565141d5e8d9d3b552129bb326a425d8b7093f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:6JQROA6XZAF3T3BTZDWD4OVSOT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Tuning Legged Locomotion Controllers via Safe Bayesian Optimization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Andreas Krause, Bhavya Sukhija, Daniel Widmer, Dongho Kang, Jonas H\\\"ubotter, Stelian Coros","submitted_at":"2023-06-12T13:10:14Z","abstract_excerpt":"This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains, addressing the mismatch between the simplified model used in the control formulation and the real system. This method substantially mitigates the risk of hazardous interactions with the robot by sample-efficiently optimizing parameters within a probably safe region. Additionally, we extend the applicability of our approach to incorporate the different gait par"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.07092","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/2306.07092/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":"2026-07-05T07:05:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pj5qq150oXcTbfOiunTdt+tJuyPWdUWq8GYLDJSvxJEbtbOERf00CORlDRph3HkiCcDI58tBx+YnojeT9pWaAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:06:47.109069Z"},"content_sha256":"fa80892ac13828b17261e4aa1c91f37c64c7ccb40b357759fd9a1507fb7b2e33","schema_version":"1.0","event_id":"sha256:fa80892ac13828b17261e4aa1c91f37c64c7ccb40b357759fd9a1507fb7b2e33"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/bundle.json","state_url":"https://pith.science/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/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":"2026-07-07T05:06:47Z","links":{"resolver":"https://pith.science/pith/6JQROA6XZAF3T3BTZDWD4OVSOT","bundle":"https://pith.science/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/bundle.json","state":"https://pith.science/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6JQROA6XZAF3T3BTZDWD4OVSOT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:6JQROA6XZAF3T3BTZDWD4OVSOT","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":"64a99381bfbda7f8d9eb4d8499e38795be314e45ee6e4c989bb714461c1a22b6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T13:10:14Z","title_canon_sha256":"a6b4d306c362ab3ce1d9c545dae21c64695d0034093a8961de371f1b4e20d32d"},"schema_version":"1.0","source":{"id":"2306.07092","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.07092","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"arxiv_version","alias_value":"2306.07092v3","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.07092","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_12","alias_value":"6JQROA6XZAF3","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_16","alias_value":"6JQROA6XZAF3T3BT","created_at":"2026-07-05T07:05:09Z"},{"alias_kind":"pith_short_8","alias_value":"6JQROA6X","created_at":"2026-07-05T07:05:09Z"}],"graph_snapshots":[{"event_id":"sha256:fa80892ac13828b17261e4aa1c91f37c64c7ccb40b357759fd9a1507fb7b2e33","target":"graph","created_at":"2026-07-05T07:05:09Z","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/2306.07092/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains, addressing the mismatch between the simplified model used in the control formulation and the real system. This method substantially mitigates the risk of hazardous interactions with the robot by sample-efficiently optimizing parameters within a probably safe region. Additionally, we extend the applicability of our approach to incorporate the different gait par","authors_text":"Andreas Krause, Bhavya Sukhija, Daniel Widmer, Dongho Kang, Jonas H\\\"ubotter, Stelian Coros","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T13:10:14Z","title":"Tuning Legged Locomotion Controllers via Safe Bayesian Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.07092","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:c15a3880671a46814b314d291f565141d5e8d9d3b552129bb326a425d8b7093f","target":"record","created_at":"2026-07-05T07:05:09Z","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":"64a99381bfbda7f8d9eb4d8499e38795be314e45ee6e4c989bb714461c1a22b6","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T13:10:14Z","title_canon_sha256":"a6b4d306c362ab3ce1d9c545dae21c64695d0034093a8961de371f1b4e20d32d"},"schema_version":"1.0","source":{"id":"2306.07092","kind":"arxiv","version":3}},"canonical_sha256":"f2611703d7c80bb9ec33c8ec3e3ab274dd101152b166811418c0c00e734d9613","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2611703d7c80bb9ec33c8ec3e3ab274dd101152b166811418c0c00e734d9613","first_computed_at":"2026-07-05T07:05:09.714815Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:05:09.714815Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Xbp24Qtrf4ndGtHZ3gYoSNxOlmu2rMHiW4RYArZBaWNIcQyWaWQ1H5ZdBw5EidcyWyf98fLoQ293aZOtNIMtBg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:05:09.715343Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.07092","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c15a3880671a46814b314d291f565141d5e8d9d3b552129bb326a425d8b7093f","sha256:fa80892ac13828b17261e4aa1c91f37c64c7ccb40b357759fd9a1507fb7b2e33"],"state_sha256":"5318efe3aabe5d78713fa71e053bc6dfa5f4ba8f280b2c00b669797849141796"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Zq3GTm4lJMBgIRGeS7+ngX4B1JhsGRYN7ihpQK/bYJOEyzFlbvDCQW7ajr38LT7yVpvTQFl5GHNNB538iDXADg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:06:47.112538Z","bundle_sha256":"2b1936aeb01f753491ba3ff60b07a3a8ea4fdf8796e5d622b22eecac361121f3"}}