{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:ATABJ6PQ25UKDHQ2X5LK5PLGRR","short_pith_number":"pith:ATABJ6PQ","canonical_record":{"source":{"id":"2512.24698","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-31T08:04:22Z","cross_cats_sorted":[],"title_canon_sha256":"4c51a9668060538bee4a019f7dc439cbcda83058f33ced0c46b8848d09f5a6ab","abstract_canon_sha256":"fb3f66e35c4e4d37cbb7e75dd57c59c952f531477f8f55ab642856422aeeddba"},"schema_version":"1.0"},"canonical_sha256":"04c014f9f0d768a19e1abf56aebd668c60a94371288ccf6fcdbf7504977e2c27","source":{"kind":"arxiv","id":"2512.24698","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2512.24698","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"arxiv_version","alias_value":"2512.24698v2","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2512.24698","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_12","alias_value":"ATABJ6PQ25UK","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_16","alias_value":"ATABJ6PQ25UKDHQ2","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_8","alias_value":"ATABJ6PQ","created_at":"2026-06-04T01:08:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:ATABJ6PQ25UKDHQ2X5LK5PLGRR","target":"record","payload":{"canonical_record":{"source":{"id":"2512.24698","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-31T08:04:22Z","cross_cats_sorted":[],"title_canon_sha256":"4c51a9668060538bee4a019f7dc439cbcda83058f33ced0c46b8848d09f5a6ab","abstract_canon_sha256":"fb3f66e35c4e4d37cbb7e75dd57c59c952f531477f8f55ab642856422aeeddba"},"schema_version":"1.0"},"canonical_sha256":"04c014f9f0d768a19e1abf56aebd668c60a94371288ccf6fcdbf7504977e2c27","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:08:39.021685Z","signature_b64":"f1TYk/iczMVjOowfbj6aItF60sRS5JeWaROOjNguJQwwKw8ZPJXdSoi+004z1OvfHmiKxn0G+jfQZE3XGMODDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"04c014f9f0d768a19e1abf56aebd668c60a94371288ccf6fcdbf7504977e2c27","last_reissued_at":"2026-06-04T01:08:39.020915Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:08:39.020915Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2512.24698","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T01:08:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jnmkatjgnaN7M6ibRvsplsOzVTxRL1UVFwCyAgv5nQvU0CyxTGZoYnrl1Qfl1i2QS+m4CKax3UgthGyZAFvYDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:17:12.517733Z"},"content_sha256":"112261937c9ce7ee7bc894882de3c4652faaabcd15bcb4c1ecc6466bf6d50d06","schema_version":"1.0","event_id":"sha256:112261937c9ce7ee7bc894882de3c4652faaabcd15bcb4c1ecc6466bf6d50d06"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:ATABJ6PQ25UKDHQ2X5LK5PLGRR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongyun Kang, Hae-Won Park, Hajun Kim, Min-Gyu Kim, Sehoon Ha, Tae-Gyu Song","submitted_at":"2025-12-31T08:04:22Z","abstract_excerpt":"Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward tuning or high-quality demonstrations. Leveraging reduced-order models can help mitigate these challenges. However, the model discrepancy poses a significant challenge when transferring policies to full-body dynamics environments. In this work, we introduce a continuation-based learning framework that combines simplified model pretraining and model-homotopy-ins"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2512.24698","kind":"arxiv","version":2},"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/2512.24698/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":"2026-06-04T01:08:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bescT+zfUhXilz23pmWoV+jA9h+TcctMqwuil8SB+gmKHj3c+0qT5kYdHNZP+v84ezSwfSRq1kpA+kPYuOD6CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:17:12.522878Z"},"content_sha256":"e1069b269fb10228d849d344a875cf28dce35cc1e6950cbb00e4b74c80115459","schema_version":"1.0","event_id":"sha256:e1069b269fb10228d849d344a875cf28dce35cc1e6950cbb00e4b74c80115459"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/bundle.json","state_url":"https://pith.science/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/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":"2026-08-05T02:17:12Z","links":{"resolver":"https://pith.science/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR","bundle":"https://pith.science/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/bundle.json","state":"https://pith.science/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ATABJ6PQ25UKDHQ2X5LK5PLGRR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ATABJ6PQ25UKDHQ2X5LK5PLGRR","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":"fb3f66e35c4e4d37cbb7e75dd57c59c952f531477f8f55ab642856422aeeddba","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-31T08:04:22Z","title_canon_sha256":"4c51a9668060538bee4a019f7dc439cbcda83058f33ced0c46b8848d09f5a6ab"},"schema_version":"1.0","source":{"id":"2512.24698","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2512.24698","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"arxiv_version","alias_value":"2512.24698v2","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2512.24698","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_12","alias_value":"ATABJ6PQ25UK","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_16","alias_value":"ATABJ6PQ25UKDHQ2","created_at":"2026-06-04T01:08:39Z"},{"alias_kind":"pith_short_8","alias_value":"ATABJ6PQ","created_at":"2026-06-04T01:08:39Z"}],"graph_snapshots":[{"event_id":"sha256:e1069b269fb10228d849d344a875cf28dce35cc1e6950cbb00e4b74c80115459","target":"graph","created_at":"2026-06-04T01:08:39Z","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/2512.24698/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward tuning or high-quality demonstrations. Leveraging reduced-order models can help mitigate these challenges. However, the model discrepancy poses a significant challenge when transferring policies to full-body dynamics environments. In this work, we introduce a continuation-based learning framework that combines simplified model pretraining and model-homotopy-ins","authors_text":"Dongyun Kang, Hae-Won Park, Hajun Kim, Min-Gyu Kim, Sehoon Ha, Tae-Gyu Song","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-31T08:04:22Z","title":"Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2512.24698","kind":"arxiv","version":2},"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":"sha256:112261937c9ce7ee7bc894882de3c4652faaabcd15bcb4c1ecc6466bf6d50d06","target":"record","created_at":"2026-06-04T01:08:39Z","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":"fb3f66e35c4e4d37cbb7e75dd57c59c952f531477f8f55ab642856422aeeddba","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-31T08:04:22Z","title_canon_sha256":"4c51a9668060538bee4a019f7dc439cbcda83058f33ced0c46b8848d09f5a6ab"},"schema_version":"1.0","source":{"id":"2512.24698","kind":"arxiv","version":2}},"canonical_sha256":"04c014f9f0d768a19e1abf56aebd668c60a94371288ccf6fcdbf7504977e2c27","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"04c014f9f0d768a19e1abf56aebd668c60a94371288ccf6fcdbf7504977e2c27","first_computed_at":"2026-06-04T01:08:39.020915Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:08:39.020915Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"f1TYk/iczMVjOowfbj6aItF60sRS5JeWaROOjNguJQwwKw8ZPJXdSoi+004z1OvfHmiKxn0G+jfQZE3XGMODDQ==","signature_status":"signed_v1","signed_at":"2026-06-04T01:08:39.021685Z","signed_message":"canonical_sha256_bytes"},"source_id":"2512.24698","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:112261937c9ce7ee7bc894882de3c4652faaabcd15bcb4c1ecc6466bf6d50d06","sha256:e1069b269fb10228d849d344a875cf28dce35cc1e6950cbb00e4b74c80115459"],"state_sha256":"a16641829c7206641feeda172492edb02be6eb0ecc45f247eb5dd47e0c2700c4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SD+de+u+VdKc7yzplFSSZJsVxLSebTbip+5gZzQAiIZa12Sok5heZarxcHAahwQbplTZway6YTD07zgTkQ9hAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T02:17:12.564260Z","bundle_sha256":"79d0c668f3db59eb4e7b1fa1a2bba00768bfe5b73e4a6096cd331149a0e6be8a"}}