{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:7NWU5SFVWK25PASLF3JTVO4YYL","short_pith_number":"pith:7NWU5SFV","canonical_record":{"source":{"id":"2507.18138","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T07:00:20Z","cross_cats_sorted":[],"title_canon_sha256":"778896bae93e6b8d6c6ba24e6c5789a9aa7b23b61721f5d2fb0d6c6544839126","abstract_canon_sha256":"e60cd4b5929ba1c16740ddb3295f9a52d1560b50226429550d9df0478e5ee109"},"schema_version":"1.0"},"canonical_sha256":"fb6d4ec8b5b2b5d7824b2ed33abb98c2f9926bebcf26e6b2898d1bb4c9025d5b","source":{"kind":"arxiv","id":"2507.18138","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18138","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18138v1","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18138","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_12","alias_value":"7NWU5SFVWK25","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_16","alias_value":"7NWU5SFVWK25PASL","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_8","alias_value":"7NWU5SFV","created_at":"2026-07-05T11:42:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:7NWU5SFVWK25PASLF3JTVO4YYL","target":"record","payload":{"canonical_record":{"source":{"id":"2507.18138","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T07:00:20Z","cross_cats_sorted":[],"title_canon_sha256":"778896bae93e6b8d6c6ba24e6c5789a9aa7b23b61721f5d2fb0d6c6544839126","abstract_canon_sha256":"e60cd4b5929ba1c16740ddb3295f9a52d1560b50226429550d9df0478e5ee109"},"schema_version":"1.0"},"canonical_sha256":"fb6d4ec8b5b2b5d7824b2ed33abb98c2f9926bebcf26e6b2898d1bb4c9025d5b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:42:42.543010Z","signature_b64":"hDM5A1x5VGAPps/9dMDYVu8d7IJpHtssNSUHiQshtc/uAWUCkfmKDGL9GBzVAT86ylAruB+SQrQW9mcZ0oAuBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fb6d4ec8b5b2b5d7824b2ed33abb98c2f9926bebcf26e6b2898d1bb4c9025d5b","last_reissued_at":"2026-07-05T11:42:42.542435Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:42:42.542435Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.18138","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":"2026-07-05T11:42:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hAmxJBKeuwj1+R7YnwWGBVkbNoFSJv5nwSWpHrdKR132TO7riyXyu1uOZ3oW0GKutzN4GK2uu2wep046J4gIBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T12:50:59.947782Z"},"content_sha256":"86886535f32406e5a99a32d8de8eabbf347d96e5bc63e9cd68f3155b88bc08bc","schema_version":"1.0","event_id":"sha256:86886535f32406e5a99a32d8de8eabbf347d96e5bc63e9cd68f3155b88bc08bc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:7NWU5SFVWK25PASLF3JTVO4YYL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongyun Kang, Hae-Won Park, Hajun Kim, Min-Gyu Kim","submitted_at":"2025-07-24T07:00:20Z","abstract_excerpt":"This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heuristics, to complement performance degradation caused by a model mismatch. By utilizing a modular structure and selecting the appropriate learning-based method for each residual module, our framework demonstrates improved control performance in environments with high uncertainty, while also achieving hi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18138","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/2507.18138/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":"2026-07-05T11:42:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vjKBdF8K51BgLchSkGNuT5LtEkDZ3B/LL+te65eOp+L/0QcyW3AgPtHQbHG+v4fo1Uy/tGQ5b+BI1L6kFAYhBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T12:50:59.948336Z"},"content_sha256":"c3d3c31f9d822c865fc7f7acac6ad33787dbd9ac2146371b053334c10cb18690","schema_version":"1.0","event_id":"sha256:c3d3c31f9d822c865fc7f7acac6ad33787dbd9ac2146371b053334c10cb18690"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7NWU5SFVWK25PASLF3JTVO4YYL/bundle.json","state_url":"https://pith.science/pith/7NWU5SFVWK25PASLF3JTVO4YYL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7NWU5SFVWK25PASLF3JTVO4YYL/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":"2026-08-21T12:50:59Z","links":{"resolver":"https://pith.science/pith/7NWU5SFVWK25PASLF3JTVO4YYL","bundle":"https://pith.science/pith/7NWU5SFVWK25PASLF3JTVO4YYL/bundle.json","state":"https://pith.science/pith/7NWU5SFVWK25PASLF3JTVO4YYL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7NWU5SFVWK25PASLF3JTVO4YYL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:7NWU5SFVWK25PASLF3JTVO4YYL","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":"e60cd4b5929ba1c16740ddb3295f9a52d1560b50226429550d9df0478e5ee109","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T07:00:20Z","title_canon_sha256":"778896bae93e6b8d6c6ba24e6c5789a9aa7b23b61721f5d2fb0d6c6544839126"},"schema_version":"1.0","source":{"id":"2507.18138","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.18138","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"arxiv_version","alias_value":"2507.18138v1","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.18138","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_12","alias_value":"7NWU5SFVWK25","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_16","alias_value":"7NWU5SFVWK25PASL","created_at":"2026-07-05T11:42:42Z"},{"alias_kind":"pith_short_8","alias_value":"7NWU5SFV","created_at":"2026-07-05T11:42:42Z"}],"graph_snapshots":[{"event_id":"sha256:c3d3c31f9d822c865fc7f7acac6ad33787dbd9ac2146371b053334c10cb18690","target":"graph","created_at":"2026-07-05T11:42:42Z","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/2507.18138/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heuristics, to complement performance degradation caused by a model mismatch. By utilizing a modular structure and selecting the appropriate learning-based method for each residual module, our framework demonstrates improved control performance in environments with high uncertainty, while also achieving hi","authors_text":"Dongyun Kang, Hae-Won Park, Hajun Kim, Min-Gyu Kim","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T07:00:20Z","title":"A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.18138","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":"sha256:86886535f32406e5a99a32d8de8eabbf347d96e5bc63e9cd68f3155b88bc08bc","target":"record","created_at":"2026-07-05T11:42:42Z","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":"e60cd4b5929ba1c16740ddb3295f9a52d1560b50226429550d9df0478e5ee109","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-24T07:00:20Z","title_canon_sha256":"778896bae93e6b8d6c6ba24e6c5789a9aa7b23b61721f5d2fb0d6c6544839126"},"schema_version":"1.0","source":{"id":"2507.18138","kind":"arxiv","version":1}},"canonical_sha256":"fb6d4ec8b5b2b5d7824b2ed33abb98c2f9926bebcf26e6b2898d1bb4c9025d5b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fb6d4ec8b5b2b5d7824b2ed33abb98c2f9926bebcf26e6b2898d1bb4c9025d5b","first_computed_at":"2026-07-05T11:42:42.542435Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:42:42.542435Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hDM5A1x5VGAPps/9dMDYVu8d7IJpHtssNSUHiQshtc/uAWUCkfmKDGL9GBzVAT86ylAruB+SQrQW9mcZ0oAuBA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:42:42.543010Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.18138","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:86886535f32406e5a99a32d8de8eabbf347d96e5bc63e9cd68f3155b88bc08bc","sha256:c3d3c31f9d822c865fc7f7acac6ad33787dbd9ac2146371b053334c10cb18690"],"state_sha256":"74a92868dec5bf604bcde40003eae49b60f9a984c5b38cd98ed08bc402470b04"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pNbXOaNKJfqjKI1eY/LNBEMW5PZlWTQUUqpuOrzJA1FicQvkuF3KKQPVVOrHADCWCdFLUUE7YG8zAUgKruUNDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T12:50:59.952732Z","bundle_sha256":"2847d815c58f0473262e24f33d8ec788e6e2919196fa0a0bb0947488a406e74a"}}