{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:CW55YGOWJUP63ZJVEDXKK5ZPAF","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":"5c6137c5ce110e54a4b70e5cc8a44bcfdec0e7b8ac545705ceebf8306979b7e9","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-30T10:48:43Z","title_canon_sha256":"43a5160e27b80ded618ad33da0400aae60113eaaab75a07fb2e8b028ed4ed33f"},"schema_version":"1.0","source":{"id":"2401.16889","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.16889","created_at":"2026-07-05T08:59:05Z"},{"alias_kind":"arxiv_version","alias_value":"2401.16889v2","created_at":"2026-07-05T08:59:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.16889","created_at":"2026-07-05T08:59:05Z"},{"alias_kind":"pith_short_12","alias_value":"CW55YGOWJUP6","created_at":"2026-07-05T08:59:05Z"},{"alias_kind":"pith_short_16","alias_value":"CW55YGOWJUP63ZJV","created_at":"2026-07-05T08:59:05Z"},{"alias_kind":"pith_short_8","alias_value":"CW55YGOW","created_at":"2026-07-05T08:59:05Z"}],"graph_snapshots":[{"event_id":"sha256:4a35cc1f7e29c626770775416fb6d14da9178dfc762e1dfdd56e0184ec383e99","target":"graph","created_at":"2026-07-05T08:59:05Z","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/2401.16889/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that can be used for a range of dynamic bipedal skills, from periodic walking and running to aperiodic jumping and standing. Our RL-based controller incorporates a novel dual-history architecture, utilizing both a long-term and short-term input/output (I/O) history of the robot. This control architecture, when trained through the proposed end-to-end RL approach, ","authors_text":"Glen Berseth, Koushil Sreenath, Pieter Abbeel, Sergey Levine, Xue Bin Peng, Zhongyu Li","cross_cats":["cs.AI","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-30T10:48:43Z","title":"Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.16889","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":"sha256:60f5f7fe6d61bd69bd39350746eb258975c7f8f03c8774e4fd9a604739f015c3","target":"record","created_at":"2026-07-05T08:59:05Z","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":"5c6137c5ce110e54a4b70e5cc8a44bcfdec0e7b8ac545705ceebf8306979b7e9","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-30T10:48:43Z","title_canon_sha256":"43a5160e27b80ded618ad33da0400aae60113eaaab75a07fb2e8b028ed4ed33f"},"schema_version":"1.0","source":{"id":"2401.16889","kind":"arxiv","version":2}},"canonical_sha256":"15bbdc19d64d1fede53520eea5772f014f8365fbd6df7131904397fa81b1c896","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"15bbdc19d64d1fede53520eea5772f014f8365fbd6df7131904397fa81b1c896","first_computed_at":"2026-07-05T08:59:05.509481Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:59:05.509481Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E6dkhROlSD9F21EAPP4qnGVEA3q+fRwzC1K2WtLfbU9iLGfquVs7TxISNpLHIOL3SGG/zt0GQDbHm6PXgJb6DA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:59:05.509941Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.16889","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:60f5f7fe6d61bd69bd39350746eb258975c7f8f03c8774e4fd9a604739f015c3","sha256:4a35cc1f7e29c626770775416fb6d14da9178dfc762e1dfdd56e0184ec383e99"],"state_sha256":"3557e3022c4174cc52479287864730a856f336050b9c881a03de842dc43eea57"}