{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:6WDPNJ7VQC3FR3HTNCNL6JAMGW","short_pith_number":"pith:6WDPNJ7V","canonical_record":{"source":{"id":"2502.03035","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-05T09:46:31Z","cross_cats_sorted":[],"title_canon_sha256":"1ea1acc2324fcc5cc3bda7672b571622125e96cb627349dc132144da8fb14576","abstract_canon_sha256":"ca9d78ceafa10221dd66bec3ccd7152c74631147020174232c7123891c4999f9"},"schema_version":"1.0"},"canonical_sha256":"f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569","source":{"kind":"arxiv","id":"2502.03035","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.03035","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"arxiv_version","alias_value":"2502.03035v1","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.03035","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_12","alias_value":"6WDPNJ7VQC3F","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_16","alias_value":"6WDPNJ7VQC3FR3HT","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_8","alias_value":"6WDPNJ7V","created_at":"2026-07-05T10:09:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:6WDPNJ7VQC3FR3HTNCNL6JAMGW","target":"record","payload":{"canonical_record":{"source":{"id":"2502.03035","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-05T09:46:31Z","cross_cats_sorted":[],"title_canon_sha256":"1ea1acc2324fcc5cc3bda7672b571622125e96cb627349dc132144da8fb14576","abstract_canon_sha256":"ca9d78ceafa10221dd66bec3ccd7152c74631147020174232c7123891c4999f9"},"schema_version":"1.0"},"canonical_sha256":"f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:09:58.572111Z","signature_b64":"2T/cM9rN0sgi7zQ8CgNj60o1Ob7xsnt4Kh922M+kw8rv19zqeZ8lORBOAvYZQxTlIVtREOAliGtaJCH6poqOAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569","last_reissued_at":"2026-07-05T10:09:58.571513Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:09:58.571513Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.03035","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":"2026-07-05T10:09:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wwaGT1jk3JzWlfm+MsdtavV543+oPu4A/U/jwzhBOWfhcBto507ySe8N9Cqa9z9qvE7XXn1T/OC2ZNuZYKXqAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T05:53:26.415166Z"},"content_sha256":"676d0a0ec274046bec95c3085c3dbae9cfa9e2dd809a0f304c980fd624567aba","schema_version":"1.0","event_id":"sha256:676d0a0ec274046bec95c3085c3dbae9cfa9e2dd809a0f304c980fd624567aba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:6WDPNJ7VQC3FR3HTNCNL6JAMGW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"UMC: Unified Resilient Controller for Legged Robots with Joint Malfunctions","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jingbo Wang, Lu Qi, Ming-Hsuan Yang, Xiangtai Li, Xin Lin, Yu Qiu","submitted_at":"2025-02-05T09:46:31Z","abstract_excerpt":"Adaptation to unpredictable damages is crucial for autonomous legged robots, yet existing methods based on multi-policy or meta-learning frameworks face challenges like limited generalization and complex maintenance. To address this issue, we first analyze and summarize eight types of damage scenarios, including sensor failures and joint malfunctions. Then, we propose a novel, model-free, two-stage training framework, Unified Malfunction Controller (UMC), incorporating a masking mechanism to enhance damage resilience. Specifically, the model is initially trained with normal environments to ens"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.03035","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2502.03035/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":"2026-07-05T10:09:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dxN1h0jWZWhVTL8yKie4aAq3r2zuMb9cz2foHvZVkJ0Eq9AHtVP7vbc14LtNU0BzTu3KoriRda/WHn/bNXKHCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T05:53:26.415673Z"},"content_sha256":"0ad46aeefa2929667f17e9bb47b988697f76631595024d9934318ffefe8c0cd7","schema_version":"1.0","event_id":"sha256:0ad46aeefa2929667f17e9bb47b988697f76631595024d9934318ffefe8c0cd7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/bundle.json","state_url":"https://pith.science/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/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":"2026-08-10T05:53:26Z","links":{"resolver":"https://pith.science/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW","bundle":"https://pith.science/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/bundle.json","state":"https://pith.science/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6WDPNJ7VQC3FR3HTNCNL6JAMGW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:6WDPNJ7VQC3FR3HTNCNL6JAMGW","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":"ca9d78ceafa10221dd66bec3ccd7152c74631147020174232c7123891c4999f9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-05T09:46:31Z","title_canon_sha256":"1ea1acc2324fcc5cc3bda7672b571622125e96cb627349dc132144da8fb14576"},"schema_version":"1.0","source":{"id":"2502.03035","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.03035","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"arxiv_version","alias_value":"2502.03035v1","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.03035","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_12","alias_value":"6WDPNJ7VQC3F","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_16","alias_value":"6WDPNJ7VQC3FR3HT","created_at":"2026-07-05T10:09:58Z"},{"alias_kind":"pith_short_8","alias_value":"6WDPNJ7V","created_at":"2026-07-05T10:09:58Z"}],"graph_snapshots":[{"event_id":"sha256:0ad46aeefa2929667f17e9bb47b988697f76631595024d9934318ffefe8c0cd7","target":"graph","created_at":"2026-07-05T10:09:58Z","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/2502.03035/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Adaptation to unpredictable damages is crucial for autonomous legged robots, yet existing methods based on multi-policy or meta-learning frameworks face challenges like limited generalization and complex maintenance. To address this issue, we first analyze and summarize eight types of damage scenarios, including sensor failures and joint malfunctions. Then, we propose a novel, model-free, two-stage training framework, Unified Malfunction Controller (UMC), incorporating a masking mechanism to enhance damage resilience. Specifically, the model is initially trained with normal environments to ens","authors_text":"Jingbo Wang, Lu Qi, Ming-Hsuan Yang, Xiangtai Li, Xin Lin, Yu Qiu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-05T09:46:31Z","title":"UMC: Unified Resilient Controller for Legged Robots with Joint Malfunctions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.03035","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":"sha256:676d0a0ec274046bec95c3085c3dbae9cfa9e2dd809a0f304c980fd624567aba","target":"record","created_at":"2026-07-05T10:09:58Z","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":"ca9d78ceafa10221dd66bec3ccd7152c74631147020174232c7123891c4999f9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-05T09:46:31Z","title_canon_sha256":"1ea1acc2324fcc5cc3bda7672b571622125e96cb627349dc132144da8fb14576"},"schema_version":"1.0","source":{"id":"2502.03035","kind":"arxiv","version":1}},"canonical_sha256":"f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569","first_computed_at":"2026-07-05T10:09:58.571513Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:09:58.571513Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2T/cM9rN0sgi7zQ8CgNj60o1Ob7xsnt4Kh922M+kw8rv19zqeZ8lORBOAvYZQxTlIVtREOAliGtaJCH6poqOAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:09:58.572111Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.03035","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:676d0a0ec274046bec95c3085c3dbae9cfa9e2dd809a0f304c980fd624567aba","sha256:0ad46aeefa2929667f17e9bb47b988697f76631595024d9934318ffefe8c0cd7"],"state_sha256":"3c8208f9771bd9cb2a82507c2ccbe1e7923d33d5e3d8564bfee82b52c4a43398"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bTxpigPuPzvo7FSRT9CI9u4Ab1rPc6jgEsqgbc1IOiTTIZMUbJmMIc1s68aWtAFH0x0p7XAkcH8Q0CBzSL8JCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T05:53:26.421074Z","bundle_sha256":"474a6becb5a307748bba9dd751e207c21115e969252b1420e45ba44ed6ab4057"}}