{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:BACK3FAP6IQOPR56XGVDZKWULH","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":"d7cb6b260cbc02db209affddd69ec639f5d0e0e25f63668c656e9950ad9f9cce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-23T19:35:41Z","title_canon_sha256":"e8b9dc2bd26d63eaf50173649165242f2c27d6953bcd8cccbd92acf1eb6d988c"},"schema_version":"1.0","source":{"id":"2407.16811","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.16811","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"arxiv_version","alias_value":"2407.16811v2","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.16811","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_12","alias_value":"BACK3FAP6IQO","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_16","alias_value":"BACK3FAP6IQOPR56","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_8","alias_value":"BACK3FAP","created_at":"2026-07-05T09:07:01Z"}],"graph_snapshots":[{"event_id":"sha256:09299edad7511248b8be415abc64d376cfdb3dc2e456bd4d5dc32a66e38280f6","target":"graph","created_at":"2026-07-05T09:07:01Z","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/2407.16811/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced significant challenges and limitations in locomotion tasks. To enhance the agility and versatility of full-body humanoid robots, we formalize a Model Predictive Control (MPC) problem that accounts for the variable centroidal inertia of humanoid robots within a convex optimization framework, ensuring computational efficiency for real-time operations. In the p","authors_text":"Carlos Gonzalez, Jaemin Lee, Luis Sentis, Seung Hyeon Bang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-23T19:35:41Z","title":"Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.16811","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:c302c5f4dc736f024fa0f35508bc23c23ac27d3275206a9ccdc9b0a7ec80cf8a","target":"record","created_at":"2026-07-05T09:07:01Z","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":"d7cb6b260cbc02db209affddd69ec639f5d0e0e25f63668c656e9950ad9f9cce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-23T19:35:41Z","title_canon_sha256":"e8b9dc2bd26d63eaf50173649165242f2c27d6953bcd8cccbd92acf1eb6d988c"},"schema_version":"1.0","source":{"id":"2407.16811","kind":"arxiv","version":2}},"canonical_sha256":"0804ad940ff220e7c7beb9aa3caad459d739ba7e1f8a5b1266c9afc259426a41","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0804ad940ff220e7c7beb9aa3caad459d739ba7e1f8a5b1266c9afc259426a41","first_computed_at":"2026-07-05T09:07:01.485164Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:07:01.485164Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"INtWimWFSH0Llx3coS+M+HDVk1zUYyMVDzIoqixWOJHud2hiGtUJ1DJkLHSgmssu0fqj8adDzNJsRZi/IOUGBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:07:01.485651Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.16811","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c302c5f4dc736f024fa0f35508bc23c23ac27d3275206a9ccdc9b0a7ec80cf8a","sha256:09299edad7511248b8be415abc64d376cfdb3dc2e456bd4d5dc32a66e38280f6"],"state_sha256":"593a162ecfc331b88838fcf5549fa8658d6bafb47bd9c9db389a2d6fac603049"}