{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:D5AIZ4PG6LQZ5DDWKO4674FGPS","short_pith_number":"pith:D5AIZ4PG","canonical_record":{"source":{"id":"2310.01408","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:59:24Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"09853e735cebefe0f266ad6f4a7047aa1f5a30b4868e853a9d752c0a06b0ceff","abstract_canon_sha256":"b94dfe0956e5f6533de23db099c782a6f43dc6e61184849c9384a2f6925ce7a9"},"schema_version":"1.0"},"canonical_sha256":"1f408cf1e6f2e19e8c7653b9eff0a67cb3b47acb2782aff85c6609c3ee8a1652","source":{"kind":"arxiv","id":"2310.01408","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01408","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01408v3","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01408","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_12","alias_value":"D5AIZ4PG6LQZ","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_16","alias_value":"D5AIZ4PG6LQZ5DDW","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_8","alias_value":"D5AIZ4PG","created_at":"2026-07-05T10:58:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:D5AIZ4PG6LQZ5DDWKO4674FGPS","target":"record","payload":{"canonical_record":{"source":{"id":"2310.01408","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:59:24Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"09853e735cebefe0f266ad6f4a7047aa1f5a30b4868e853a9d752c0a06b0ceff","abstract_canon_sha256":"b94dfe0956e5f6533de23db099c782a6f43dc6e61184849c9384a2f6925ce7a9"},"schema_version":"1.0"},"canonical_sha256":"1f408cf1e6f2e19e8c7653b9eff0a67cb3b47acb2782aff85c6609c3ee8a1652","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:58:13.526724Z","signature_b64":"ZDDEA6HZihWgprzVxnL9w6xOf7IpUdvs2Tu/WiQdDcaXGrqOnpyhNns+ZxpaTeKD+fLvcvN8KPkP+rKGcLcSCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1f408cf1e6f2e19e8c7653b9eff0a67cb3b47acb2782aff85c6609c3ee8a1652","last_reissued_at":"2026-07-05T10:58:13.526225Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:58:13.526225Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.01408","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":"2026-07-05T10:58:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YiAzqJif65Nex39lh1r3ZF8ssyGOsglqeh4dMJ8mpBodCQLX9XGXUc8ZAxM2J3yeDx/XO2NRd4i/kaH7rWXaBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T02:07:20.932413Z"},"content_sha256":"b616aa11c6f9cc42be24a882ccd87bf5b12410e3965071e8d486990cd4da8ef9","schema_version":"1.0","event_id":"sha256:b616aa11c6f9cc42be24a882ccd87bf5b12410e3965071e8d486990cd4da8ef9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:D5AIZ4PG6LQZ5DDWKO4674FGPS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Chongyi Zheng, Jianhan Ma, Quan Nguyen, Ruihan Yang, Xiaolong Wang, Yiyu Chen, Zhuoqun Chen","submitted_at":"2023-10-02T17:59:24Z","abstract_excerpt":"The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces essential inquiries: How can a robot learn multiple locomotion behaviors simultaneously? How can the robot execute these tasks with a smooth transition? How to integrate these skills for wide-range applications? This paper introduces the Versatile Instructable Motion prior (VIM) - a Reinforcement Learning framework designed to incorporate a range of agile locomot"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01408","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.01408/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":"2026-07-05T10:58:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"59xq/IqAWqNYwO+zEZc8keSb0hLPp/5lqAmWSLZfohnjxSmEM3fu1a/nFatveTtPx1I57ZQIaSmqgZEjiJKgAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T02:07:20.933159Z"},"content_sha256":"ec1027379793ffce6717ed04cce5a30b49ff4b2960491c2fc30ce884d9a697fc","schema_version":"1.0","event_id":"sha256:ec1027379793ffce6717ed04cce5a30b49ff4b2960491c2fc30ce884d9a697fc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/bundle.json","state_url":"https://pith.science/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/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":"2026-08-20T02:07:20Z","links":{"resolver":"https://pith.science/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS","bundle":"https://pith.science/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/bundle.json","state":"https://pith.science/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D5AIZ4PG6LQZ5DDWKO4674FGPS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:D5AIZ4PG6LQZ5DDWKO4674FGPS","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":"b94dfe0956e5f6533de23db099c782a6f43dc6e61184849c9384a2f6925ce7a9","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:59:24Z","title_canon_sha256":"09853e735cebefe0f266ad6f4a7047aa1f5a30b4868e853a9d752c0a06b0ceff"},"schema_version":"1.0","source":{"id":"2310.01408","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.01408","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"arxiv_version","alias_value":"2310.01408v3","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.01408","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_12","alias_value":"D5AIZ4PG6LQZ","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_16","alias_value":"D5AIZ4PG6LQZ5DDW","created_at":"2026-07-05T10:58:13Z"},{"alias_kind":"pith_short_8","alias_value":"D5AIZ4PG","created_at":"2026-07-05T10:58:13Z"}],"graph_snapshots":[{"event_id":"sha256:ec1027379793ffce6717ed04cce5a30b49ff4b2960491c2fc30ce884d9a697fc","target":"graph","created_at":"2026-07-05T10:58:13Z","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/2310.01408/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces essential inquiries: How can a robot learn multiple locomotion behaviors simultaneously? How can the robot execute these tasks with a smooth transition? How to integrate these skills for wide-range applications? This paper introduces the Versatile Instructable Motion prior (VIM) - a Reinforcement Learning framework designed to incorporate a range of agile locomot","authors_text":"Chongyi Zheng, Jianhan Ma, Quan Nguyen, Ruihan Yang, Xiaolong Wang, Yiyu Chen, Zhuoqun Chen","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:59:24Z","title":"Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.01408","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:b616aa11c6f9cc42be24a882ccd87bf5b12410e3965071e8d486990cd4da8ef9","target":"record","created_at":"2026-07-05T10:58:13Z","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":"b94dfe0956e5f6533de23db099c782a6f43dc6e61184849c9384a2f6925ce7a9","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-02T17:59:24Z","title_canon_sha256":"09853e735cebefe0f266ad6f4a7047aa1f5a30b4868e853a9d752c0a06b0ceff"},"schema_version":"1.0","source":{"id":"2310.01408","kind":"arxiv","version":3}},"canonical_sha256":"1f408cf1e6f2e19e8c7653b9eff0a67cb3b47acb2782aff85c6609c3ee8a1652","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1f408cf1e6f2e19e8c7653b9eff0a67cb3b47acb2782aff85c6609c3ee8a1652","first_computed_at":"2026-07-05T10:58:13.526225Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:58:13.526225Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZDDEA6HZihWgprzVxnL9w6xOf7IpUdvs2Tu/WiQdDcaXGrqOnpyhNns+ZxpaTeKD+fLvcvN8KPkP+rKGcLcSCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:58:13.526724Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.01408","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b616aa11c6f9cc42be24a882ccd87bf5b12410e3965071e8d486990cd4da8ef9","sha256:ec1027379793ffce6717ed04cce5a30b49ff4b2960491c2fc30ce884d9a697fc"],"state_sha256":"9ef63176df435341f683f9009e9a360084e591a0c220c7621edc1944b7cf9cc0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B5fOXAsqbCVSpioeTxIho3Zzk2ogwEPhZ30hdEdF0Bp6hXcPrly19CGb6yEyMo78mouCF5gfVkSW1ePJsNU+Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T02:07:20.950607Z","bundle_sha256":"a07e5a5bad4ab77008198558c1a538853f6f411101f4ec0e546fbac605110a5d"}}