{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:C6HHIR5IAMR2TBIG7DEGAF6GBG","short_pith_number":"pith:C6HHIR5I","canonical_record":{"source":{"id":"1711.05253","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-11-14T18:56:12Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"00add425026f42a0fb82e8be923b55b32905a8c48980a08301863a3d0d325d16","abstract_canon_sha256":"958985c42e7d0990241fb101a4abd0393d74eed9bb1b71bf0e4c388bdee4776f"},"schema_version":"1.0"},"canonical_sha256":"178e7447a80323a98506f8c86017c609ad3ef8473387fe8972e08af0ed00f52d","source":{"kind":"arxiv","id":"1711.05253","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.05253","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"arxiv_version","alias_value":"1711.05253v3","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.05253","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"pith_short_12","alias_value":"C6HHIR5IAMR2","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_16","alias_value":"C6HHIR5IAMR2TBIG","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_8","alias_value":"C6HHIR5I","created_at":"2026-05-18T12:31:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:C6HHIR5IAMR2TBIG7DEGAF6GBG","target":"record","payload":{"canonical_record":{"source":{"id":"1711.05253","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-11-14T18:56:12Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"00add425026f42a0fb82e8be923b55b32905a8c48980a08301863a3d0d325d16","abstract_canon_sha256":"958985c42e7d0990241fb101a4abd0393d74eed9bb1b71bf0e4c388bdee4776f"},"schema_version":"1.0"},"canonical_sha256":"178e7447a80323a98506f8c86017c609ad3ef8473387fe8972e08af0ed00f52d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:19:47.301424Z","signature_b64":"yHSI2lylaTkYyzab9ZSPbHYOKn1SRPjyILTGq9N/IQPGme+QrL5qCf5JO8nX/5UWBE0o1d8U1eMtMP2akqDhBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"178e7447a80323a98506f8c86017c609ad3ef8473387fe8972e08af0ed00f52d","last_reissued_at":"2026-05-18T00:19:47.300526Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:19:47.300526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1711.05253","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:19:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YR3cwoEn3vSyh6yAcTtcZ2P1FjU96WfZntNgxJYX0/3rTL54aHD60tzbZXI8PvHmEGj2ffZwr4xbyaapcStACA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T23:20:35.011241Z"},"content_sha256":"b7e05083c5a731abfc01fa7867eb84019b95f3f7526ec6f20a731e8c815f9e86","schema_version":"1.0","event_id":"sha256:b7e05083c5a731abfc01fa7867eb84019b95f3f7526ec6f20a731e8c815f9e86"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:C6HHIR5IAMR2TBIG7DEGAF6GBG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Anusha Nagabandi, Gregory Kahn, Guangzhao Yang, Ravi Pandya, Ronald S. Fearing, Sergey Levine, Thomas Asmar","submitted_at":"2017-11-14T18:56:12Z","abstract_excerpt":"Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of obstacles. However, controlling these small, highly dynamic, and underactuated legged systems is difficult. Hand-engineered controllers can sometimes control these legged millirobots, but they have difficulties with dynamic maneuvers and complex terrains. We present an approach for controlling a real-world legged millirobot that is based on learned neural network "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.05253","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:19:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KZClb+1iZCtYk+98XZPMNWysKy9qz95aw23gVemxVZVZUQPalSOrnzLHS9nMv1IqDZlBF01VCO9+BekUPpZEDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T23:20:35.011845Z"},"content_sha256":"18cb93da52fd5551c3ab35d81ca00549dabe6c385ce0e0b7d29b13b12359dd66","schema_version":"1.0","event_id":"sha256:18cb93da52fd5551c3ab35d81ca00549dabe6c385ce0e0b7d29b13b12359dd66"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/bundle.json","state_url":"https://pith.science/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/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":"2026-06-04T23:20:35Z","links":{"resolver":"https://pith.science/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG","bundle":"https://pith.science/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/bundle.json","state":"https://pith.science/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/C6HHIR5IAMR2TBIG7DEGAF6GBG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:C6HHIR5IAMR2TBIG7DEGAF6GBG","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":"958985c42e7d0990241fb101a4abd0393d74eed9bb1b71bf0e4c388bdee4776f","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-11-14T18:56:12Z","title_canon_sha256":"00add425026f42a0fb82e8be923b55b32905a8c48980a08301863a3d0d325d16"},"schema_version":"1.0","source":{"id":"1711.05253","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.05253","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"arxiv_version","alias_value":"1711.05253v3","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.05253","created_at":"2026-05-18T00:19:47Z"},{"alias_kind":"pith_short_12","alias_value":"C6HHIR5IAMR2","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_16","alias_value":"C6HHIR5IAMR2TBIG","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_8","alias_value":"C6HHIR5I","created_at":"2026-05-18T12:31:08Z"}],"graph_snapshots":[{"event_id":"sha256:18cb93da52fd5551c3ab35d81ca00549dabe6c385ce0e0b7d29b13b12359dd66","target":"graph","created_at":"2026-05-18T00:19:47Z","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"},"paper":{"abstract_excerpt":"Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of obstacles. However, controlling these small, highly dynamic, and underactuated legged systems is difficult. Hand-engineered controllers can sometimes control these legged millirobots, but they have difficulties with dynamic maneuvers and complex terrains. We present an approach for controlling a real-world legged millirobot that is based on learned neural network ","authors_text":"Anusha Nagabandi, Gregory Kahn, Guangzhao Yang, Ravi Pandya, Ronald S. Fearing, Sergey Levine, Thomas Asmar","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-11-14T18:56:12Z","title":"Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.05253","kind":"arxiv","version":3},"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:b7e05083c5a731abfc01fa7867eb84019b95f3f7526ec6f20a731e8c815f9e86","target":"record","created_at":"2026-05-18T00:19:47Z","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":"958985c42e7d0990241fb101a4abd0393d74eed9bb1b71bf0e4c388bdee4776f","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-11-14T18:56:12Z","title_canon_sha256":"00add425026f42a0fb82e8be923b55b32905a8c48980a08301863a3d0d325d16"},"schema_version":"1.0","source":{"id":"1711.05253","kind":"arxiv","version":3}},"canonical_sha256":"178e7447a80323a98506f8c86017c609ad3ef8473387fe8972e08af0ed00f52d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"178e7447a80323a98506f8c86017c609ad3ef8473387fe8972e08af0ed00f52d","first_computed_at":"2026-05-18T00:19:47.300526Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:19:47.300526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yHSI2lylaTkYyzab9ZSPbHYOKn1SRPjyILTGq9N/IQPGme+QrL5qCf5JO8nX/5UWBE0o1d8U1eMtMP2akqDhBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:19:47.301424Z","signed_message":"canonical_sha256_bytes"},"source_id":"1711.05253","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b7e05083c5a731abfc01fa7867eb84019b95f3f7526ec6f20a731e8c815f9e86","sha256:18cb93da52fd5551c3ab35d81ca00549dabe6c385ce0e0b7d29b13b12359dd66"],"state_sha256":"a6f70c722dbf3dd8ff90567f6496be62730235ce87e7849b7bf6ce6f25865a79"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bfy6oZgmoF1wkHkDT6b0a5iXXlMqwMxHgH1rT7rrUEAMt78Y5swRcBLmDY6YpMW2i6/FPkrTp/jRLHwbDLBqDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T23:20:35.015025Z","bundle_sha256":"9c88e16a7d363193f5d7c34c1038f21a445782a4dffb1d6b42901b2050058ec5"}}