{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:B4V5C7VAX4ASLDO7I7M3KSNAQ2","short_pith_number":"pith:B4V5C7VA","canonical_record":{"source":{"id":"2507.16983","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2025-07-22T19:47:04Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"997c538f9ced38e9595f6b253cdd05f3158e1c623fa799363091924ce509d421","abstract_canon_sha256":"533a1034d843de61b47bd9d4a1948fca63ddd32abd34628c0ed987a8df47435c"},"schema_version":"1.0"},"canonical_sha256":"0f2bd17ea0bf01258ddf47d9b549a086a4dccaa08e4dcd2383973f5fd8809afa","source":{"kind":"arxiv","id":"2507.16983","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.16983","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"arxiv_version","alias_value":"2507.16983v1","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.16983","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_12","alias_value":"B4V5C7VAX4AS","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_16","alias_value":"B4V5C7VAX4ASLDO7","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_8","alias_value":"B4V5C7VA","created_at":"2026-07-05T11:41:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:B4V5C7VAX4ASLDO7I7M3KSNAQ2","target":"record","payload":{"canonical_record":{"source":{"id":"2507.16983","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2025-07-22T19:47:04Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"997c538f9ced38e9595f6b253cdd05f3158e1c623fa799363091924ce509d421","abstract_canon_sha256":"533a1034d843de61b47bd9d4a1948fca63ddd32abd34628c0ed987a8df47435c"},"schema_version":"1.0"},"canonical_sha256":"0f2bd17ea0bf01258ddf47d9b549a086a4dccaa08e4dcd2383973f5fd8809afa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:41:59.600721Z","signature_b64":"TtJEXR4Cy/RrhCmgnHjALOz/cejKwemhr1P+emZ4KqC4JZpgpo63zoRm6l1oKPZrgKcydJt4XmN8ijZvMGUbCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0f2bd17ea0bf01258ddf47d9b549a086a4dccaa08e4dcd2383973f5fd8809afa","last_reissued_at":"2026-07-05T11:41:59.600238Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:41:59.600238Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.16983","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":"2026-07-05T11:41:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4FT7gtfWOdAtEYhg+SmqKaOlZw+o75ADbz28gE4Fii1v4Rq17xxmkAsXms0nhS1mzKvVvtYggeGVnxYPA0zOAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T00:23:43.332700Z"},"content_sha256":"5a63fbf18ca8e15b9a0c33a2530708d7bf077ce03022ff8576211e576ea5ebcf","schema_version":"1.0","event_id":"sha256:5a63fbf18ca8e15b9a0c33a2530708d7bf077ce03022ff8576211e576ea5ebcf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:B4V5C7VAX4ASLDO7I7M3KSNAQ2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hierarchical Reinforcement Learning Framework for Adaptive Walking Control Using General Value Functions of Lower-Limb Sensor Signals","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Ashley N. Dalrymple, Grange M. Simpson, Patrick M. Pilarski, Sonny T. Jones","submitted_at":"2025-07-22T19:47:04Z","abstract_excerpt":"Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control strategies for lower-limb exoskeletons, aiming to enhance mobility and autonomy for individuals with motor impairments. Inspired by prominent models of biological sensorimotor processing, our investigated HRL approach breaks down the complex task of exoskeleton control adaptation into a higher-level framework for terrain strategy adaptation and a lower-level framewor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.16983","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/2507.16983/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":"2026-07-05T11:41:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j3CN5Nja7ApqTvLe8KnE5mlW1SwbQPGvePQWqzS6/4YPy27aAt0KIVyMC9PSEdb8h6s+UP44WdR1VX9+uJ+QBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T00:23:43.333216Z"},"content_sha256":"295830a66607f5982ca7370712a04e45bb4e5abac002f7d0ccb8b7decae29cae","schema_version":"1.0","event_id":"sha256:295830a66607f5982ca7370712a04e45bb4e5abac002f7d0ccb8b7decae29cae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/bundle.json","state_url":"https://pith.science/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/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":"2026-08-09T00:23:43Z","links":{"resolver":"https://pith.science/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2","bundle":"https://pith.science/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/bundle.json","state":"https://pith.science/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B4V5C7VAX4ASLDO7I7M3KSNAQ2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:B4V5C7VAX4ASLDO7I7M3KSNAQ2","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":"533a1034d843de61b47bd9d4a1948fca63ddd32abd34628c0ed987a8df47435c","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2025-07-22T19:47:04Z","title_canon_sha256":"997c538f9ced38e9595f6b253cdd05f3158e1c623fa799363091924ce509d421"},"schema_version":"1.0","source":{"id":"2507.16983","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.16983","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"arxiv_version","alias_value":"2507.16983v1","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.16983","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_12","alias_value":"B4V5C7VAX4AS","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_16","alias_value":"B4V5C7VAX4ASLDO7","created_at":"2026-07-05T11:41:59Z"},{"alias_kind":"pith_short_8","alias_value":"B4V5C7VA","created_at":"2026-07-05T11:41:59Z"}],"graph_snapshots":[{"event_id":"sha256:295830a66607f5982ca7370712a04e45bb4e5abac002f7d0ccb8b7decae29cae","target":"graph","created_at":"2026-07-05T11:41:59Z","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/2507.16983/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control strategies for lower-limb exoskeletons, aiming to enhance mobility and autonomy for individuals with motor impairments. Inspired by prominent models of biological sensorimotor processing, our investigated HRL approach breaks down the complex task of exoskeleton control adaptation into a higher-level framework for terrain strategy adaptation and a lower-level framewor","authors_text":"Ashley N. Dalrymple, Grange M. Simpson, Patrick M. Pilarski, Sonny T. Jones","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2025-07-22T19:47:04Z","title":"Hierarchical Reinforcement Learning Framework for Adaptive Walking Control Using General Value Functions of Lower-Limb Sensor Signals"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.16983","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":"sha256:5a63fbf18ca8e15b9a0c33a2530708d7bf077ce03022ff8576211e576ea5ebcf","target":"record","created_at":"2026-07-05T11:41:59Z","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":"533a1034d843de61b47bd9d4a1948fca63ddd32abd34628c0ed987a8df47435c","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2025-07-22T19:47:04Z","title_canon_sha256":"997c538f9ced38e9595f6b253cdd05f3158e1c623fa799363091924ce509d421"},"schema_version":"1.0","source":{"id":"2507.16983","kind":"arxiv","version":1}},"canonical_sha256":"0f2bd17ea0bf01258ddf47d9b549a086a4dccaa08e4dcd2383973f5fd8809afa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0f2bd17ea0bf01258ddf47d9b549a086a4dccaa08e4dcd2383973f5fd8809afa","first_computed_at":"2026-07-05T11:41:59.600238Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:41:59.600238Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TtJEXR4Cy/RrhCmgnHjALOz/cejKwemhr1P+emZ4KqC4JZpgpo63zoRm6l1oKPZrgKcydJt4XmN8ijZvMGUbCA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:41:59.600721Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.16983","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a63fbf18ca8e15b9a0c33a2530708d7bf077ce03022ff8576211e576ea5ebcf","sha256:295830a66607f5982ca7370712a04e45bb4e5abac002f7d0ccb8b7decae29cae"],"state_sha256":"8bef3aaa0d43776fa36ec3add25e759dad4482af2f512c24fbc942c06d01899d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Xja42VF4v9tcqQ4SRA+hRl4eY6T+88f91LZYgdUkq8IWiU0fLIcsLCD7iesWP6aiSLjUc57laerTJOKy72MJAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T00:23:43.337195Z","bundle_sha256":"50ffa1a53aaaa3fd08272b0e94e9d910b4b8e088fe495e1b0a90581e5712105c"}}