{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:CRVCTAWZSZQVNXIMHAKLGIUXU7","short_pith_number":"pith:CRVCTAWZ","canonical_record":{"source":{"id":"2402.13473","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-21T02:06:45Z","cross_cats_sorted":[],"title_canon_sha256":"3ade6b7d85707c48ce595615e961e0f11c8552380e42cda0d07a0c30a1004975","abstract_canon_sha256":"1ef5dac61c85e6bb526591f5f77061d436a55418f6f7d3ae7f7c0eb272ea6086"},"schema_version":"1.0"},"canonical_sha256":"146a2982d9966156dd0c3814b32297a7ffb5d7ee5f9199817023f97831162f86","source":{"kind":"arxiv","id":"2402.13473","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.13473","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"arxiv_version","alias_value":"2402.13473v1","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.13473","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_12","alias_value":"CRVCTAWZSZQV","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_16","alias_value":"CRVCTAWZSZQVNXIM","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_8","alias_value":"CRVCTAWZ","created_at":"2026-07-05T07:47:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:CRVCTAWZSZQVNXIMHAKLGIUXU7","target":"record","payload":{"canonical_record":{"source":{"id":"2402.13473","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-21T02:06:45Z","cross_cats_sorted":[],"title_canon_sha256":"3ade6b7d85707c48ce595615e961e0f11c8552380e42cda0d07a0c30a1004975","abstract_canon_sha256":"1ef5dac61c85e6bb526591f5f77061d436a55418f6f7d3ae7f7c0eb272ea6086"},"schema_version":"1.0"},"canonical_sha256":"146a2982d9966156dd0c3814b32297a7ffb5d7ee5f9199817023f97831162f86","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:47:32.933943Z","signature_b64":"Fg2su5cUlHwbpvHeqjbyqEVL4kFaqaPwZcg3aC30jp3m7Z38jYzJFR7FPzQtbcCpGTy4Pkst6Nnft2IblOtKAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"146a2982d9966156dd0c3814b32297a7ffb5d7ee5f9199817023f97831162f86","last_reissued_at":"2026-07-05T07:47:32.933450Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:47:32.933450Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.13473","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":"2026-07-05T07:47:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A+zuw1gnydcMf5KEcqmS2E8mBN1vH9oVif4bclVywJWrORr+HLeEXPIbxnN7EtSB/7XKe98TPt9Kq+HHQzGiBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:21:51.070597Z"},"content_sha256":"c03a77764ac0a493415d52490620fabbb7303068c8d2fa6a3402d7cd31178795","schema_version":"1.0","event_id":"sha256:c03a77764ac0a493415d52490620fabbb7303068c8d2fa6a3402d7cd31178795"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:CRVCTAWZSZQVNXIMHAKLGIUXU7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Highly Dynamic Behaviors for Quadrupedal Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cheng Zhou, Chong Zhang, He Zhang, Jiapeng sheng, Lei Han, Qingxu Zhu, Rui Zhao, Tingguang Li, Yizheng Zhang","submitted_at":"2024-02-21T02:06:45Z","abstract_excerpt":"Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead to compromises in performance. Data-driven approaches have been shown to reproduce agile behaviors of animals, but typically have not been able to learn highly dynamic behaviors. In this paper, we propose a learning-based approach to enable robots to learn highly dynamic behaviors from animal motion data. The learned controller is deployed on a quadrupedal ro"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.13473","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/2402.13473/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":"2026-07-05T07:47:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PmAyEJLrvgAEbpuCnZdX+FNZ5sfmhgKpa0qc69cyYn3SyAgI0Q/lsjhsQ+3+qtnOOLh2+HP67RCJckGaMU+wCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:21:51.071092Z"},"content_sha256":"0c83d137ec59b89a76a6779d710b2fbcff68b61a2ded866979ba550c09b516f7","schema_version":"1.0","event_id":"sha256:0c83d137ec59b89a76a6779d710b2fbcff68b61a2ded866979ba550c09b516f7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/bundle.json","state_url":"https://pith.science/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/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":"2026-08-01T07:21:51Z","links":{"resolver":"https://pith.science/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7","bundle":"https://pith.science/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/bundle.json","state":"https://pith.science/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CRVCTAWZSZQVNXIMHAKLGIUXU7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:CRVCTAWZSZQVNXIMHAKLGIUXU7","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":"1ef5dac61c85e6bb526591f5f77061d436a55418f6f7d3ae7f7c0eb272ea6086","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-21T02:06:45Z","title_canon_sha256":"3ade6b7d85707c48ce595615e961e0f11c8552380e42cda0d07a0c30a1004975"},"schema_version":"1.0","source":{"id":"2402.13473","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.13473","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"arxiv_version","alias_value":"2402.13473v1","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.13473","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_12","alias_value":"CRVCTAWZSZQV","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_16","alias_value":"CRVCTAWZSZQVNXIM","created_at":"2026-07-05T07:47:32Z"},{"alias_kind":"pith_short_8","alias_value":"CRVCTAWZ","created_at":"2026-07-05T07:47:32Z"}],"graph_snapshots":[{"event_id":"sha256:0c83d137ec59b89a76a6779d710b2fbcff68b61a2ded866979ba550c09b516f7","target":"graph","created_at":"2026-07-05T07:47:32Z","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/2402.13473/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead to compromises in performance. Data-driven approaches have been shown to reproduce agile behaviors of animals, but typically have not been able to learn highly dynamic behaviors. In this paper, we propose a learning-based approach to enable robots to learn highly dynamic behaviors from animal motion data. The learned controller is deployed on a quadrupedal ro","authors_text":"Cheng Zhou, Chong Zhang, He Zhang, Jiapeng sheng, Lei Han, Qingxu Zhu, Rui Zhao, Tingguang Li, Yizheng Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-21T02:06:45Z","title":"Learning Highly Dynamic Behaviors for Quadrupedal Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.13473","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:c03a77764ac0a493415d52490620fabbb7303068c8d2fa6a3402d7cd31178795","target":"record","created_at":"2026-07-05T07:47:32Z","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":"1ef5dac61c85e6bb526591f5f77061d436a55418f6f7d3ae7f7c0eb272ea6086","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-21T02:06:45Z","title_canon_sha256":"3ade6b7d85707c48ce595615e961e0f11c8552380e42cda0d07a0c30a1004975"},"schema_version":"1.0","source":{"id":"2402.13473","kind":"arxiv","version":1}},"canonical_sha256":"146a2982d9966156dd0c3814b32297a7ffb5d7ee5f9199817023f97831162f86","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"146a2982d9966156dd0c3814b32297a7ffb5d7ee5f9199817023f97831162f86","first_computed_at":"2026-07-05T07:47:32.933450Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:47:32.933450Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Fg2su5cUlHwbpvHeqjbyqEVL4kFaqaPwZcg3aC30jp3m7Z38jYzJFR7FPzQtbcCpGTy4Pkst6Nnft2IblOtKAg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:47:32.933943Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.13473","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c03a77764ac0a493415d52490620fabbb7303068c8d2fa6a3402d7cd31178795","sha256:0c83d137ec59b89a76a6779d710b2fbcff68b61a2ded866979ba550c09b516f7"],"state_sha256":"8e25d14d2907201f8f51f729af7626c7596a222798dabcf9c9aa5c8580174182"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"472R3bcmowrBLNPZptfGeGgquPdWOhbKUMfo9QpSbWss9a3BonPfL2C7u9lAri6iM2wfWeW4LSamJ1E/supHAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T07:21:51.075812Z","bundle_sha256":"8b4035ed745f3a88d1db6e809fcda6e14517e03d46334afae0e1d3ed60014f3c"}}