{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:DDX2NINNURDPZJVIYOAVV6IRUK","short_pith_number":"pith:DDX2NINN","canonical_record":{"source":{"id":"2104.09771","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T05:55:13Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"3f6952bc57ac64e3268b428c6a4c093744eadb07e6660cbe9044d4bb6c3f5bc6","abstract_canon_sha256":"598ebf4981c4041908d7d113fa1cf8c47f9eeee52815a6f6a19c0f8516ce15e8"},"schema_version":"1.0"},"canonical_sha256":"18efa6a1ada446fca6a8c3815af911a2a657a17c4c62d2a67a1c14c8880a4340","source":{"kind":"arxiv","id":"2104.09771","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.09771","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"arxiv_version","alias_value":"2104.09771v3","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.09771","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_12","alias_value":"DDX2NINNURDP","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_16","alias_value":"DDX2NINNURDPZJVI","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_8","alias_value":"DDX2NINN","created_at":"2026-07-05T03:57:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:DDX2NINNURDPZJVIYOAVV6IRUK","target":"record","payload":{"canonical_record":{"source":{"id":"2104.09771","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T05:55:13Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"3f6952bc57ac64e3268b428c6a4c093744eadb07e6660cbe9044d4bb6c3f5bc6","abstract_canon_sha256":"598ebf4981c4041908d7d113fa1cf8c47f9eeee52815a6f6a19c0f8516ce15e8"},"schema_version":"1.0"},"canonical_sha256":"18efa6a1ada446fca6a8c3815af911a2a657a17c4c62d2a67a1c14c8880a4340","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:57:26.394175Z","signature_b64":"qOEigXnezS7W8r+Bgosk3eChBeT/UtCXUzqg9jl+NmZr+qDKtcY8Bwfbb4q5BidSRLoyR5Oqwg2O5dMgDWFdBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"18efa6a1ada446fca6a8c3815af911a2a657a17c4c62d2a67a1c14c8880a4340","last_reissued_at":"2026-07-05T03:57:26.393712Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:57:26.393712Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.09771","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":"2026-07-05T03:57:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EE+tnRtl/OGnVuxcv3U7c3bnrq0lpInh+ShLg0yUy0fUDiqHQMBhMgQbVOAnW6IyDnZs4s5FOt8DJo6lWpRRAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T03:59:17.206947Z"},"content_sha256":"c10fca9567d4e7464262a2937a344634337ca7e2062d3aed252ad35f6ae3ce43","schema_version":"1.0","event_id":"sha256:c10fca9567d4e7464262a2937a344634337ca7e2062d3aed252ad35f6ae3ce43"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:DDX2NINNURDPZJVIYOAVV6IRUK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Animesh Garg, Buck Babich, Michiel van de Panne, Xingye Da, Zhaoming Xie","submitted_at":"2021-04-20T05:55:13Z","abstract_excerpt":"Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are commonly used for many model predictive control strategies. In this work we abandon the conventional use of high-fidelity dynamics models in RL and we instead seek to understand what can be achieved when using RL with a much simpler centroidal model when applied to quadrupedal locomotion. We show that RL-based control of the accelerations of a centroidal model is s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.09771","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/2104.09771/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":"2026-07-05T03:57:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2zvKIjeRuSg+WxLcZVXAtuYFShSsqmAWcbL4bsSnE4zI1G4AX9eSgc8Q6oEtq5iiQQBvr4LyOPrjJr210w3iCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T03:59:17.207890Z"},"content_sha256":"1164891e52375a3b7f41f78cc5bdf67b266bda3a195ca375b97ca9af040c83b8","schema_version":"1.0","event_id":"sha256:1164891e52375a3b7f41f78cc5bdf67b266bda3a195ca375b97ca9af040c83b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DDX2NINNURDPZJVIYOAVV6IRUK/bundle.json","state_url":"https://pith.science/pith/DDX2NINNURDPZJVIYOAVV6IRUK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DDX2NINNURDPZJVIYOAVV6IRUK/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":"2026-08-12T03:59:17Z","links":{"resolver":"https://pith.science/pith/DDX2NINNURDPZJVIYOAVV6IRUK","bundle":"https://pith.science/pith/DDX2NINNURDPZJVIYOAVV6IRUK/bundle.json","state":"https://pith.science/pith/DDX2NINNURDPZJVIYOAVV6IRUK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DDX2NINNURDPZJVIYOAVV6IRUK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:DDX2NINNURDPZJVIYOAVV6IRUK","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":"598ebf4981c4041908d7d113fa1cf8c47f9eeee52815a6f6a19c0f8516ce15e8","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T05:55:13Z","title_canon_sha256":"3f6952bc57ac64e3268b428c6a4c093744eadb07e6660cbe9044d4bb6c3f5bc6"},"schema_version":"1.0","source":{"id":"2104.09771","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.09771","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"arxiv_version","alias_value":"2104.09771v3","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.09771","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_12","alias_value":"DDX2NINNURDP","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_16","alias_value":"DDX2NINNURDPZJVI","created_at":"2026-07-05T03:57:26Z"},{"alias_kind":"pith_short_8","alias_value":"DDX2NINN","created_at":"2026-07-05T03:57:26Z"}],"graph_snapshots":[{"event_id":"sha256:1164891e52375a3b7f41f78cc5bdf67b266bda3a195ca375b97ca9af040c83b8","target":"graph","created_at":"2026-07-05T03:57:26Z","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/2104.09771/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Model-free reinforcement learning (RL) for legged locomotion commonly relies on a physics simulator that can accurately predict the behaviors of every degree of freedom of the robot. In contrast, approximate reduced-order models are commonly used for many model predictive control strategies. In this work we abandon the conventional use of high-fidelity dynamics models in RL and we instead seek to understand what can be achieved when using RL with a much simpler centroidal model when applied to quadrupedal locomotion. We show that RL-based control of the accelerations of a centroidal model is s","authors_text":"Animesh Garg, Buck Babich, Michiel van de Panne, Xingye Da, Zhaoming Xie","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T05:55:13Z","title":"GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.09771","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:c10fca9567d4e7464262a2937a344634337ca7e2062d3aed252ad35f6ae3ce43","target":"record","created_at":"2026-07-05T03:57:26Z","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":"598ebf4981c4041908d7d113fa1cf8c47f9eeee52815a6f6a19c0f8516ce15e8","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T05:55:13Z","title_canon_sha256":"3f6952bc57ac64e3268b428c6a4c093744eadb07e6660cbe9044d4bb6c3f5bc6"},"schema_version":"1.0","source":{"id":"2104.09771","kind":"arxiv","version":3}},"canonical_sha256":"18efa6a1ada446fca6a8c3815af911a2a657a17c4c62d2a67a1c14c8880a4340","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"18efa6a1ada446fca6a8c3815af911a2a657a17c4c62d2a67a1c14c8880a4340","first_computed_at":"2026-07-05T03:57:26.393712Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:57:26.393712Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qOEigXnezS7W8r+Bgosk3eChBeT/UtCXUzqg9jl+NmZr+qDKtcY8Bwfbb4q5BidSRLoyR5Oqwg2O5dMgDWFdBg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:57:26.394175Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.09771","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c10fca9567d4e7464262a2937a344634337ca7e2062d3aed252ad35f6ae3ce43","sha256:1164891e52375a3b7f41f78cc5bdf67b266bda3a195ca375b97ca9af040c83b8"],"state_sha256":"b71f1cb4c0e7c2ee354d7c840664e260c51e865a4b43237e2d616580420a88f5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qRC3ouFXAR4+WOrhYrixAJAak5CXek/4JwEydxSGGipgBZKYTKsoh6cslLxeD0hCdlo61os5Rn9KQzikj3aKAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T03:59:17.213897Z","bundle_sha256":"f1188ff92f94d8ed070be66d0ff781d6691b5b83cd28b502989cc536dbb2d3c4"}}