{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:6NTR77DV4WSLBRJPTHAFP7PR2O","short_pith_number":"pith:6NTR77DV","canonical_record":{"source":{"id":"1706.08685","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T06:38:53Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f80776a3e2bbb846e0675f3b2d6b3744629743d98040feace4ffee181a9fb85f","abstract_canon_sha256":"ccf9dcf8ae26a503edd786b5276a2fa2328d31a9bec118e6316585a1ac0d0755"},"schema_version":"1.0"},"canonical_sha256":"f3671ffc75e5a4b0c52f99c057fdf1d3af95330197bfde3beffa6d96f1179763","source":{"kind":"arxiv","id":"1706.08685","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.08685","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"arxiv_version","alias_value":"1706.08685v1","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.08685","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"pith_short_12","alias_value":"6NTR77DV4WSL","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"6NTR77DV4WSLBRJP","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"6NTR77DV","created_at":"2026-05-18T12:31:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:6NTR77DV4WSLBRJPTHAFP7PR2O","target":"record","payload":{"canonical_record":{"source":{"id":"1706.08685","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T06:38:53Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"f80776a3e2bbb846e0675f3b2d6b3744629743d98040feace4ffee181a9fb85f","abstract_canon_sha256":"ccf9dcf8ae26a503edd786b5276a2fa2328d31a9bec118e6316585a1ac0d0755"},"schema_version":"1.0"},"canonical_sha256":"f3671ffc75e5a4b0c52f99c057fdf1d3af95330197bfde3beffa6d96f1179763","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:41:31.347992Z","signature_b64":"+sjghG3HTmBlAAIA8NdQgGEwDn6mVtc9TiFhj910Gh6lve5sLBbVFcC+Bp4E3qwtFiNrMToeZkvzQRFPkC4PAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f3671ffc75e5a4b0c52f99c057fdf1d3af95330197bfde3beffa6d96f1179763","last_reissued_at":"2026-05-18T00:41:31.347408Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:41:31.347408Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1706.08685","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:41:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WvZ9KFFLFBnU9shnmoj54EmKkM5rFpScHt4BtkUleR6w1CT5601HLRTsxqQ5iX/ML2/bPi/8GPCviQJddG1+AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T13:40:25.636714Z"},"content_sha256":"46fb7ab22eb14fbbc8c1d6cae784acfdb6975920820ca999d97cbd5faf548b7d","schema_version":"1.0","event_id":"sha256:46fb7ab22eb14fbbc8c1d6cae784acfdb6975920820ca999d97cbd5faf548b7d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:6NTR77DV4WSLBRJPTHAFP7PR2O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Atsuo Takanishi, Kenji Hashimoto, Martim Brandao, Yukitoshi Minami Shiguematsu","submitted_at":"2017-06-27T06:38:53Z","abstract_excerpt":"In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probabili"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.08685","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:41:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RnItj72yFPdxBP1pwh576+NxQNgAlpIlDgzrXFaTaQoBKwtCfJ5A/ukCB/+trygQyxtqx+HberKrtq3Y+yIoCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T13:40:25.637056Z"},"content_sha256":"d37e0f6883c719684a8e47354241f23aa92f44b8828767f3399381ccc5efe4f8","schema_version":"1.0","event_id":"sha256:d37e0f6883c719684a8e47354241f23aa92f44b8828767f3399381ccc5efe4f8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/bundle.json","state_url":"https://pith.science/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/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":"2026-06-28T13:40:25Z","links":{"resolver":"https://pith.science/pith/6NTR77DV4WSLBRJPTHAFP7PR2O","bundle":"https://pith.science/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/bundle.json","state":"https://pith.science/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6NTR77DV4WSLBRJPTHAFP7PR2O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:6NTR77DV4WSLBRJPTHAFP7PR2O","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":"ccf9dcf8ae26a503edd786b5276a2fa2328d31a9bec118e6316585a1ac0d0755","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T06:38:53Z","title_canon_sha256":"f80776a3e2bbb846e0675f3b2d6b3744629743d98040feace4ffee181a9fb85f"},"schema_version":"1.0","source":{"id":"1706.08685","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.08685","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"arxiv_version","alias_value":"1706.08685v1","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.08685","created_at":"2026-05-18T00:41:31Z"},{"alias_kind":"pith_short_12","alias_value":"6NTR77DV4WSL","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"6NTR77DV4WSLBRJP","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"6NTR77DV","created_at":"2026-05-18T12:31:03Z"}],"graph_snapshots":[{"event_id":"sha256:d37e0f6883c719684a8e47354241f23aa92f44b8828767f3399381ccc5efe4f8","target":"graph","created_at":"2026-05-18T00:41:31Z","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"},"paper":{"abstract_excerpt":"In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probabili","authors_text":"Atsuo Takanishi, Kenji Hashimoto, Martim Brandao, Yukitoshi Minami Shiguematsu","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T06:38:53Z","title":"Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.08685","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":"sha256:46fb7ab22eb14fbbc8c1d6cae784acfdb6975920820ca999d97cbd5faf548b7d","target":"record","created_at":"2026-05-18T00:41:31Z","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":"ccf9dcf8ae26a503edd786b5276a2fa2328d31a9bec118e6316585a1ac0d0755","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T06:38:53Z","title_canon_sha256":"f80776a3e2bbb846e0675f3b2d6b3744629743d98040feace4ffee181a9fb85f"},"schema_version":"1.0","source":{"id":"1706.08685","kind":"arxiv","version":1}},"canonical_sha256":"f3671ffc75e5a4b0c52f99c057fdf1d3af95330197bfde3beffa6d96f1179763","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f3671ffc75e5a4b0c52f99c057fdf1d3af95330197bfde3beffa6d96f1179763","first_computed_at":"2026-05-18T00:41:31.347408Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:41:31.347408Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+sjghG3HTmBlAAIA8NdQgGEwDn6mVtc9TiFhj910Gh6lve5sLBbVFcC+Bp4E3qwtFiNrMToeZkvzQRFPkC4PAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:41:31.347992Z","signed_message":"canonical_sha256_bytes"},"source_id":"1706.08685","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:46fb7ab22eb14fbbc8c1d6cae784acfdb6975920820ca999d97cbd5faf548b7d","sha256:d37e0f6883c719684a8e47354241f23aa92f44b8828767f3399381ccc5efe4f8"],"state_sha256":"87481c6dd733971ab7171ffb063331521e764d4b0daf96899d4297a2ed8381c9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G1a30J/KuCBmjnuz09qF6gp53eopcK8/tpZfPnDVtX9jBVv5OXhtetdSWFlvR/bDhiYPezNHYMARgaOA3cpUDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T13:40:25.638945Z","bundle_sha256":"f24c34f0d92b16bc24d6cd5ccb30763643cd754e98d01b8e78881e602272f556"}}