{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:BJPZXNGVR5V36AMQXX3XPX624I","short_pith_number":"pith:BJPZXNGV","canonical_record":{"source":{"id":"2407.04224","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T02:37:32Z","cross_cats_sorted":[],"title_canon_sha256":"1d253f43a400dc8409fd958e03dc8c99ec04a3b89be25e9f81d7d6f46af13e9b","abstract_canon_sha256":"0056e8619cf00ad963092803eef4e63297bd1dda05f035bee1c39e26b16d9e99"},"schema_version":"1.0"},"canonical_sha256":"0a5f9bb4d58f6bbf0190bdf777dfdae22793f7eb8c621de3fd0dacf39fef6116","source":{"kind":"arxiv","id":"2407.04224","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.04224","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"arxiv_version","alias_value":"2407.04224v1","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.04224","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_12","alias_value":"BJPZXNGVR5V3","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_16","alias_value":"BJPZXNGVR5V36AMQ","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_8","alias_value":"BJPZXNGV","created_at":"2026-07-05T08:40:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:BJPZXNGVR5V36AMQXX3XPX624I","target":"record","payload":{"canonical_record":{"source":{"id":"2407.04224","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T02:37:32Z","cross_cats_sorted":[],"title_canon_sha256":"1d253f43a400dc8409fd958e03dc8c99ec04a3b89be25e9f81d7d6f46af13e9b","abstract_canon_sha256":"0056e8619cf00ad963092803eef4e63297bd1dda05f035bee1c39e26b16d9e99"},"schema_version":"1.0"},"canonical_sha256":"0a5f9bb4d58f6bbf0190bdf777dfdae22793f7eb8c621de3fd0dacf39fef6116","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:40:30.643721Z","signature_b64":"5zmqf9pi+GAEBRjyLdWfTv6ZLB68LL/fT4NBBhLTEBWdrAnkREyV7Fz/ZQVZj9fsK1DOs3sdWXIxMdG3+XlNCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0a5f9bb4d58f6bbf0190bdf777dfdae22793f7eb8c621de3fd0dacf39fef6116","last_reissued_at":"2026-07-05T08:40:30.643266Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:40:30.643266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.04224","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":"2026-07-05T08:40:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gOXZN3yWOL4pWlq0v9rfgYYjngzVa/+7zQ7gmDfSx7S6ISNC1hxx4prwQp9HgIXChs7jMcxbqTXRPL/gy5rNBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T06:30:50.807734Z"},"content_sha256":"2a3a1edb7aaaedd4e75578371237c930e11e6cc100c6041ff924799e91935924","schema_version":"1.0","event_id":"sha256:2a3a1edb7aaaedd4e75578371237c930e11e6cc100c6041ff924799e91935924"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:BJPZXNGVR5V36AMQXX3XPX624I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Qingrui Zhang, Xiang Zhou, Xinyu Zhang, Zhiyuan Xiao","submitted_at":"2024-07-05T02:37:32Z","abstract_excerpt":"Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, locomotion control is still a challenging task for quadruped robots traversing diverse terrains amidst unforeseen disturbances. Recently, privileged learning has been employed to learn reliable and robust quadrupedal locomotion over various terrains based on a teacher-student architecture. However, its one-encoder structure is not adequate in addressing external force perturbations. The student policy would experience "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.04224","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/2407.04224/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":"2026-07-05T08:40:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HVBEtzluhi0nFtgJ/1Yie9oK8MBVHXNaoOl7cPuiRhLfT45m94x3aNExAN40faJBJoSKMtAEB6HuBGPckSDsDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T06:30:50.808260Z"},"content_sha256":"294c4cd584bc1e703955cf6db539a3e9cfa9a9bd948672b63fc82555337ec671","schema_version":"1.0","event_id":"sha256:294c4cd584bc1e703955cf6db539a3e9cfa9a9bd948672b63fc82555337ec671"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BJPZXNGVR5V36AMQXX3XPX624I/bundle.json","state_url":"https://pith.science/pith/BJPZXNGVR5V36AMQXX3XPX624I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BJPZXNGVR5V36AMQXX3XPX624I/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":"2026-08-09T06:30:50Z","links":{"resolver":"https://pith.science/pith/BJPZXNGVR5V36AMQXX3XPX624I","bundle":"https://pith.science/pith/BJPZXNGVR5V36AMQXX3XPX624I/bundle.json","state":"https://pith.science/pith/BJPZXNGVR5V36AMQXX3XPX624I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BJPZXNGVR5V36AMQXX3XPX624I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:BJPZXNGVR5V36AMQXX3XPX624I","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":"0056e8619cf00ad963092803eef4e63297bd1dda05f035bee1c39e26b16d9e99","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T02:37:32Z","title_canon_sha256":"1d253f43a400dc8409fd958e03dc8c99ec04a3b89be25e9f81d7d6f46af13e9b"},"schema_version":"1.0","source":{"id":"2407.04224","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.04224","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"arxiv_version","alias_value":"2407.04224v1","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.04224","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_12","alias_value":"BJPZXNGVR5V3","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_16","alias_value":"BJPZXNGVR5V36AMQ","created_at":"2026-07-05T08:40:30Z"},{"alias_kind":"pith_short_8","alias_value":"BJPZXNGV","created_at":"2026-07-05T08:40:30Z"}],"graph_snapshots":[{"event_id":"sha256:294c4cd584bc1e703955cf6db539a3e9cfa9a9bd948672b63fc82555337ec671","target":"graph","created_at":"2026-07-05T08:40:30Z","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/2407.04224/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, locomotion control is still a challenging task for quadruped robots traversing diverse terrains amidst unforeseen disturbances. Recently, privileged learning has been employed to learn reliable and robust quadrupedal locomotion over various terrains based on a teacher-student architecture. However, its one-encoder structure is not adequate in addressing external force perturbations. The student policy would experience ","authors_text":"Qingrui Zhang, Xiang Zhou, Xinyu Zhang, Zhiyuan Xiao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T02:37:32Z","title":"PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.04224","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":"sha256:2a3a1edb7aaaedd4e75578371237c930e11e6cc100c6041ff924799e91935924","target":"record","created_at":"2026-07-05T08:40:30Z","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":"0056e8619cf00ad963092803eef4e63297bd1dda05f035bee1c39e26b16d9e99","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T02:37:32Z","title_canon_sha256":"1d253f43a400dc8409fd958e03dc8c99ec04a3b89be25e9f81d7d6f46af13e9b"},"schema_version":"1.0","source":{"id":"2407.04224","kind":"arxiv","version":1}},"canonical_sha256":"0a5f9bb4d58f6bbf0190bdf777dfdae22793f7eb8c621de3fd0dacf39fef6116","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0a5f9bb4d58f6bbf0190bdf777dfdae22793f7eb8c621de3fd0dacf39fef6116","first_computed_at":"2026-07-05T08:40:30.643266Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:40:30.643266Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5zmqf9pi+GAEBRjyLdWfTv6ZLB68LL/fT4NBBhLTEBWdrAnkREyV7Fz/ZQVZj9fsK1DOs3sdWXIxMdG3+XlNCA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:40:30.643721Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.04224","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2a3a1edb7aaaedd4e75578371237c930e11e6cc100c6041ff924799e91935924","sha256:294c4cd584bc1e703955cf6db539a3e9cfa9a9bd948672b63fc82555337ec671"],"state_sha256":"aa1265fb5581fa35eab2316fa76185fd21513e9f4451e084ae69d69adb4e8962"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QFKTfBe8qyosGMOylF7hcHCqU9Sje3ANyXSTA5OQfOuV+VlQDrrInyiXUWdr3xbTry979rbfxJ70i5TUvt4TAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T06:30:50.813136Z","bundle_sha256":"09cf213da3caa04331d05843b1f0637ec47f1608f74dd48a2d07cb2ab59b9dbe"}}