{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:7IS26TOZAU7YBWD5ZCCAJLB5IT","short_pith_number":"pith:7IS26TOZ","canonical_record":{"source":{"id":"1807.03415","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-09T22:51:10Z","cross_cats_sorted":[],"title_canon_sha256":"b9734a86e12ff46b8a25ca4d85cccddeb3a80564e672a2b4a10ea1c1febd4a8b","abstract_canon_sha256":"1988557e0d3649db138342481c8247a5163d5ca9669e2ef06ce790104ba853fc"},"schema_version":"1.0"},"canonical_sha256":"fa25af4dd9053f80d87dc88404ac3d44c2b5e8e600c6d4ed4aef6a335e74daa6","source":{"kind":"arxiv","id":"1807.03415","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03415","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03415v1","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03415","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"pith_short_12","alias_value":"7IS26TOZAU7Y","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"7IS26TOZAU7YBWD5","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"7IS26TOZ","created_at":"2026-05-18T12:32:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:7IS26TOZAU7YBWD5ZCCAJLB5IT","target":"record","payload":{"canonical_record":{"source":{"id":"1807.03415","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-09T22:51:10Z","cross_cats_sorted":[],"title_canon_sha256":"b9734a86e12ff46b8a25ca4d85cccddeb3a80564e672a2b4a10ea1c1febd4a8b","abstract_canon_sha256":"1988557e0d3649db138342481c8247a5163d5ca9669e2ef06ce790104ba853fc"},"schema_version":"1.0"},"canonical_sha256":"fa25af4dd9053f80d87dc88404ac3d44c2b5e8e600c6d4ed4aef6a335e74daa6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:10.502153Z","signature_b64":"4aANWcDr5I273WBqvGGnAQ3zQyAsRFkhFWQ1v6o+vVEV62yPQZzctuF+cqDTrtUlDoQM+P3b2G4aXPQ+iLu6Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa25af4dd9053f80d87dc88404ac3d44c2b5e8e600c6d4ed4aef6a335e74daa6","last_reissued_at":"2026-05-18T00:11:10.501373Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:10.501373Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.03415","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":"2026-05-18T00:11:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7reh8CJXN2EQF0GGF/ynMcL0wH7dvc85CzNVzP4VbPQUsEVOl51T/ryoWvzuxz/rqqBjMYdd+uiNT4KMTGYOBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T09:24:48.428351Z"},"content_sha256":"ae8f23406dc3f1198795cdb5f7255666df9224d45f6bd0370e37c41ea8df68c0","schema_version":"1.0","event_id":"sha256:ae8f23406dc3f1198795cdb5f7255666df9224d45f6bd0370e37c41ea8df68c0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:7IS26TOZAU7YBWD5ZCCAJLB5IT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Donghyun Kim, Junhyeok Ahn, Luis Sentis, Orion Campbell","submitted_at":"2018-07-09T22:51:10Z","abstract_excerpt":"We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both simultaneously. Three advantages of this approach are (1) the ability to differentiate alternate routes while selecting footstep locations based on the temporal duration of the route as determined by the Linear Inverted Pendulum Model dynamics, (2) the ability to perform collision checking through time so that collisions with moving obstacles are prevented without av"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03415","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":"2026-05-18T00:11:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"20+USnneAH1SNEep1pVWNG/rDtH+tkBgZfcPLTqZ4EeoSj8TAy5uiV9J8Bss1t1yHHK9drBG4yxfAQ6nrFlACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T09:24:48.428716Z"},"content_sha256":"5a5fbb5971055910522f179c1748b91d8f7fa40eb86e1851efbd6783b5eac576","schema_version":"1.0","event_id":"sha256:5a5fbb5971055910522f179c1748b91d8f7fa40eb86e1851efbd6783b5eac576"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/bundle.json","state_url":"https://pith.science/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/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":"2026-06-05T09:24:48Z","links":{"resolver":"https://pith.science/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT","bundle":"https://pith.science/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/bundle.json","state":"https://pith.science/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7IS26TOZAU7YBWD5ZCCAJLB5IT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:7IS26TOZAU7YBWD5ZCCAJLB5IT","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":"1988557e0d3649db138342481c8247a5163d5ca9669e2ef06ce790104ba853fc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-09T22:51:10Z","title_canon_sha256":"b9734a86e12ff46b8a25ca4d85cccddeb3a80564e672a2b4a10ea1c1febd4a8b"},"schema_version":"1.0","source":{"id":"1807.03415","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03415","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03415v1","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03415","created_at":"2026-05-18T00:11:10Z"},{"alias_kind":"pith_short_12","alias_value":"7IS26TOZAU7Y","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"7IS26TOZAU7YBWD5","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"7IS26TOZ","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:5a5fbb5971055910522f179c1748b91d8f7fa40eb86e1851efbd6783b5eac576","target":"graph","created_at":"2026-05-18T00:11:10Z","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":"We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both simultaneously. Three advantages of this approach are (1) the ability to differentiate alternate routes while selecting footstep locations based on the temporal duration of the route as determined by the Linear Inverted Pendulum Model dynamics, (2) the ability to perform collision checking through time so that collisions with moving obstacles are prevented without av","authors_text":"Donghyun Kim, Junhyeok Ahn, Luis Sentis, Orion Campbell","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-09T22:51:10Z","title":"Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03415","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:ae8f23406dc3f1198795cdb5f7255666df9224d45f6bd0370e37c41ea8df68c0","target":"record","created_at":"2026-05-18T00:11:10Z","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":"1988557e0d3649db138342481c8247a5163d5ca9669e2ef06ce790104ba853fc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-07-09T22:51:10Z","title_canon_sha256":"b9734a86e12ff46b8a25ca4d85cccddeb3a80564e672a2b4a10ea1c1febd4a8b"},"schema_version":"1.0","source":{"id":"1807.03415","kind":"arxiv","version":1}},"canonical_sha256":"fa25af4dd9053f80d87dc88404ac3d44c2b5e8e600c6d4ed4aef6a335e74daa6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa25af4dd9053f80d87dc88404ac3d44c2b5e8e600c6d4ed4aef6a335e74daa6","first_computed_at":"2026-05-18T00:11:10.501373Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:11:10.501373Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4aANWcDr5I273WBqvGGnAQ3zQyAsRFkhFWQ1v6o+vVEV62yPQZzctuF+cqDTrtUlDoQM+P3b2G4aXPQ+iLu6Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:11:10.502153Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.03415","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ae8f23406dc3f1198795cdb5f7255666df9224d45f6bd0370e37c41ea8df68c0","sha256:5a5fbb5971055910522f179c1748b91d8f7fa40eb86e1851efbd6783b5eac576"],"state_sha256":"7d760b758eb4e72ccb764e870d6a5ddcdbe09693c511feccdf6d07dd24814535"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wyLB8zm5AeD2+cbyMHLAP0Xdfq1eDb+j4n6LILOM8uOBxPxpwUeg0/nQ9HeANs75g+xY17zdVzMFZxgPx6kDDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T09:24:48.430672Z","bundle_sha256":"e22cebf75e83d9a587d865f64b0b93096f2853caaaccc1e285d0c26bf06cdfd5"}}