{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:75UK6PGTGJMZ62SKGALKRRVIIP","short_pith_number":"pith:75UK6PGT","canonical_record":{"source":{"id":"2508.19926","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-27T14:35:37Z","cross_cats_sorted":[],"title_canon_sha256":"dd541a9de08b6d4a387846e50351813e5f9fa3261bfa86f9121bf8cd51025d17","abstract_canon_sha256":"b90c3a91a9f0934065a1322e1ddf6772b83fe5968359d0c7487d53cdb1f03ae0"},"schema_version":"1.0"},"canonical_sha256":"ff68af3cd332599f6a4a3016a8c6a843f805d19d84f7b5e869f195146e476f93","source":{"kind":"arxiv","id":"2508.19926","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.19926","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"arxiv_version","alias_value":"2508.19926v1","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.19926","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_12","alias_value":"75UK6PGTGJMZ","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_16","alias_value":"75UK6PGTGJMZ62SK","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_8","alias_value":"75UK6PGT","created_at":"2026-07-05T12:00:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:75UK6PGTGJMZ62SKGALKRRVIIP","target":"record","payload":{"canonical_record":{"source":{"id":"2508.19926","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-27T14:35:37Z","cross_cats_sorted":[],"title_canon_sha256":"dd541a9de08b6d4a387846e50351813e5f9fa3261bfa86f9121bf8cd51025d17","abstract_canon_sha256":"b90c3a91a9f0934065a1322e1ddf6772b83fe5968359d0c7487d53cdb1f03ae0"},"schema_version":"1.0"},"canonical_sha256":"ff68af3cd332599f6a4a3016a8c6a843f805d19d84f7b5e869f195146e476f93","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:00:20.247903Z","signature_b64":"Kx8WOqfPrJkU7yrE6patOkA9JYIwmE0iikLrCdLCYVH46FnpW/f0S2sOQFNOvrr6YF5kb6qBT3MNGnDQC6OmBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff68af3cd332599f6a4a3016a8c6a843f805d19d84f7b5e869f195146e476f93","last_reissued_at":"2026-07-05T12:00:20.247415Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:00:20.247415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.19926","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":"2026-07-05T12:00:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bl2V5mZcUN2RUyH0+bIvJLydRs5KxE3Lb/c0vjp/Buektr/bGpj7ZG1Vdd/6mKKlyzu0pYPR2GlDFuX//qCVCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T17:24:49.768630Z"},"content_sha256":"8d38f3878fcfd681ba891692749ff86da1a72e21d17c19e57e36999214a237d3","schema_version":"1.0","event_id":"sha256:8d38f3878fcfd681ba891692749ff86da1a72e21d17c19e57e36999214a237d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:75UK6PGTGJMZ62SKGALKRRVIIP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Renjing Xu, Shiting Chen, Tan Jing, Weisheng Xu, Yangfan Li","submitted_at":"2025-08-27T14:35:37Z","abstract_excerpt":"Unified physics-based humanoid controllers are pivotal for robotics and character animation, yet models that excel on gentle, everyday motions still stumble on explosive actions, hampering real-world deployment. We bridge this gap with FARM (Frame-Accelerated Augmentation and Residual Mixture-of-Experts), an end-to-end framework composed of frame-accelerated augmentation, a robust base controller, and a residual mixture-of-experts (MoE). Frame-accelerated augmentation exposes the model to high-velocity pose changes by widening inter-frame gaps. The base controller reliably tracks everyday low-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.19926","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/2508.19926/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":"2026-07-05T12:00:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nq09YYPtIkMXwyXsuRN5iwxx7dcoisKTHvM/XtIOAjN8tH6ya9N9lBn0db+v3a5zTAinlrJq6IZcDbHawkouBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T17:24:49.769113Z"},"content_sha256":"b03387da6ab2a7cf8764f390ba8d5e0fe9ceb5b1a6a50e9d246c9b2a70f86203","schema_version":"1.0","event_id":"sha256:b03387da6ab2a7cf8764f390ba8d5e0fe9ceb5b1a6a50e9d246c9b2a70f86203"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/75UK6PGTGJMZ62SKGALKRRVIIP/bundle.json","state_url":"https://pith.science/pith/75UK6PGTGJMZ62SKGALKRRVIIP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/75UK6PGTGJMZ62SKGALKRRVIIP/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":"2026-08-06T17:24:49Z","links":{"resolver":"https://pith.science/pith/75UK6PGTGJMZ62SKGALKRRVIIP","bundle":"https://pith.science/pith/75UK6PGTGJMZ62SKGALKRRVIIP/bundle.json","state":"https://pith.science/pith/75UK6PGTGJMZ62SKGALKRRVIIP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/75UK6PGTGJMZ62SKGALKRRVIIP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:75UK6PGTGJMZ62SKGALKRRVIIP","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":"b90c3a91a9f0934065a1322e1ddf6772b83fe5968359d0c7487d53cdb1f03ae0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-27T14:35:37Z","title_canon_sha256":"dd541a9de08b6d4a387846e50351813e5f9fa3261bfa86f9121bf8cd51025d17"},"schema_version":"1.0","source":{"id":"2508.19926","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.19926","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"arxiv_version","alias_value":"2508.19926v1","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.19926","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_12","alias_value":"75UK6PGTGJMZ","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_16","alias_value":"75UK6PGTGJMZ62SK","created_at":"2026-07-05T12:00:20Z"},{"alias_kind":"pith_short_8","alias_value":"75UK6PGT","created_at":"2026-07-05T12:00:20Z"}],"graph_snapshots":[{"event_id":"sha256:b03387da6ab2a7cf8764f390ba8d5e0fe9ceb5b1a6a50e9d246c9b2a70f86203","target":"graph","created_at":"2026-07-05T12:00:20Z","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/2508.19926/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unified physics-based humanoid controllers are pivotal for robotics and character animation, yet models that excel on gentle, everyday motions still stumble on explosive actions, hampering real-world deployment. We bridge this gap with FARM (Frame-Accelerated Augmentation and Residual Mixture-of-Experts), an end-to-end framework composed of frame-accelerated augmentation, a robust base controller, and a residual mixture-of-experts (MoE). Frame-accelerated augmentation exposes the model to high-velocity pose changes by widening inter-frame gaps. The base controller reliably tracks everyday low-","authors_text":"Renjing Xu, Shiting Chen, Tan Jing, Weisheng Xu, Yangfan Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-27T14:35:37Z","title":"FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.19926","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":"sha256:8d38f3878fcfd681ba891692749ff86da1a72e21d17c19e57e36999214a237d3","target":"record","created_at":"2026-07-05T12:00:20Z","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":"b90c3a91a9f0934065a1322e1ddf6772b83fe5968359d0c7487d53cdb1f03ae0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-27T14:35:37Z","title_canon_sha256":"dd541a9de08b6d4a387846e50351813e5f9fa3261bfa86f9121bf8cd51025d17"},"schema_version":"1.0","source":{"id":"2508.19926","kind":"arxiv","version":1}},"canonical_sha256":"ff68af3cd332599f6a4a3016a8c6a843f805d19d84f7b5e869f195146e476f93","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff68af3cd332599f6a4a3016a8c6a843f805d19d84f7b5e869f195146e476f93","first_computed_at":"2026-07-05T12:00:20.247415Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:00:20.247415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Kx8WOqfPrJkU7yrE6patOkA9JYIwmE0iikLrCdLCYVH46FnpW/f0S2sOQFNOvrr6YF5kb6qBT3MNGnDQC6OmBg==","signature_status":"signed_v1","signed_at":"2026-07-05T12:00:20.247903Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.19926","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8d38f3878fcfd681ba891692749ff86da1a72e21d17c19e57e36999214a237d3","sha256:b03387da6ab2a7cf8764f390ba8d5e0fe9ceb5b1a6a50e9d246c9b2a70f86203"],"state_sha256":"ab31c5bf2fd6963a76fe70f330c0648194deffae45ac75a08e280d8016cae8e6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C8+8ljAETtFkjIlzQyIENXN3qKVxRjiYiHA2/srLEBDyQzGlD0JK+FjauwQVcnTzmXIHNsK+YWW1kbpTelF6CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T17:24:49.773928Z","bundle_sha256":"cd2609b73640c699ef06eadc2d654df135f4c101e140817b16f392ace0b277e2"}}