{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:DJ4KVOCEK3ZBAEM4RFQQ6IT5BM","short_pith_number":"pith:DJ4KVOCE","canonical_record":{"source":{"id":"2410.02891","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-03T18:29:49Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6be9e39c9af22e3eec42f8ee7aa0638af741cbf9b29598a1dae45a28f5174518","abstract_canon_sha256":"ad448b494efa88171b143740057d23c070d912abef586cfbda2de6b7646e540a"},"schema_version":"1.0"},"canonical_sha256":"1a78aab84456f210119c89610f227d0b0a14ce9d15a13d74ee872ec191e8a49c","source":{"kind":"arxiv","id":"2410.02891","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.02891","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"arxiv_version","alias_value":"2410.02891v1","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.02891","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_12","alias_value":"DJ4KVOCEK3ZB","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_16","alias_value":"DJ4KVOCEK3ZBAEM4","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_8","alias_value":"DJ4KVOCE","created_at":"2026-07-05T09:15:41Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:DJ4KVOCEK3ZBAEM4RFQQ6IT5BM","target":"record","payload":{"canonical_record":{"source":{"id":"2410.02891","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-03T18:29:49Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6be9e39c9af22e3eec42f8ee7aa0638af741cbf9b29598a1dae45a28f5174518","abstract_canon_sha256":"ad448b494efa88171b143740057d23c070d912abef586cfbda2de6b7646e540a"},"schema_version":"1.0"},"canonical_sha256":"1a78aab84456f210119c89610f227d0b0a14ce9d15a13d74ee872ec191e8a49c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:15:41.164717Z","signature_b64":"HUZtOXfVWc8rBYL/XSr8txsiwSxeIGpo8loQf4LjP1m4jujUispYldtl/O2Twa74oD1lmh6hjrm2x5WU1Mi0CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1a78aab84456f210119c89610f227d0b0a14ce9d15a13d74ee872ec191e8a49c","last_reissued_at":"2026-07-05T09:15:41.164311Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:15:41.164311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.02891","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":"2026-07-05T09:15:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sEpNXVDirKuYAx1PLDwaKmm0l2GDm8iDFg1BHUQnPe4jG6b6DBxAo1Vvo5CJfZW1DXPtkrdickpMciZm6vBNDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T06:45:24.305218Z"},"content_sha256":"beff5c75ac6cad44cb43142cf649951aa1120483ce332089bf5d7e782514112c","schema_version":"1.0","event_id":"sha256:beff5c75ac6cad44cb43142cf649951aa1120483ce332089bf5d7e782514112c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:DJ4KVOCEK3ZBAEM4RFQQ6IT5BM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ioannis Tsikelis, Konstantinos Chatzilygeroudis","submitted_at":"2024-10-03T18:29:49Z","abstract_excerpt":"Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.02891","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/2410.02891/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":"2026-07-05T09:15:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IQMWYV7noxKdX6mYZDGQZirmgm9gJ2aPBrwojrUkR/7mjgnC4gKKkYgZ/RLfqJJ4jI59K64VcmOZriJCj+nWAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T06:45:24.305732Z"},"content_sha256":"5a99d3497cda69d3e1d7ffe17a5cb9b874118dde9cad241674e1be440a79b10c","schema_version":"1.0","event_id":"sha256:5a99d3497cda69d3e1d7ffe17a5cb9b874118dde9cad241674e1be440a79b10c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/bundle.json","state_url":"https://pith.science/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/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":"2026-08-22T06:45:24Z","links":{"resolver":"https://pith.science/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM","bundle":"https://pith.science/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/bundle.json","state":"https://pith.science/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DJ4KVOCEK3ZBAEM4RFQQ6IT5BM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:DJ4KVOCEK3ZBAEM4RFQQ6IT5BM","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":"ad448b494efa88171b143740057d23c070d912abef586cfbda2de6b7646e540a","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-03T18:29:49Z","title_canon_sha256":"6be9e39c9af22e3eec42f8ee7aa0638af741cbf9b29598a1dae45a28f5174518"},"schema_version":"1.0","source":{"id":"2410.02891","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.02891","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"arxiv_version","alias_value":"2410.02891v1","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.02891","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_12","alias_value":"DJ4KVOCEK3ZB","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_16","alias_value":"DJ4KVOCEK3ZBAEM4","created_at":"2026-07-05T09:15:41Z"},{"alias_kind":"pith_short_8","alias_value":"DJ4KVOCE","created_at":"2026-07-05T09:15:41Z"}],"graph_snapshots":[{"event_id":"sha256:5a99d3497cda69d3e1d7ffe17a5cb9b874118dde9cad241674e1be440a79b10c","target":"graph","created_at":"2026-07-05T09:15:41Z","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/2410.02891/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods a","authors_text":"Ioannis Tsikelis, Konstantinos Chatzilygeroudis","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-03T18:29:49Z","title":"Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.02891","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:beff5c75ac6cad44cb43142cf649951aa1120483ce332089bf5d7e782514112c","target":"record","created_at":"2026-07-05T09:15:41Z","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":"ad448b494efa88171b143740057d23c070d912abef586cfbda2de6b7646e540a","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-03T18:29:49Z","title_canon_sha256":"6be9e39c9af22e3eec42f8ee7aa0638af741cbf9b29598a1dae45a28f5174518"},"schema_version":"1.0","source":{"id":"2410.02891","kind":"arxiv","version":1}},"canonical_sha256":"1a78aab84456f210119c89610f227d0b0a14ce9d15a13d74ee872ec191e8a49c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1a78aab84456f210119c89610f227d0b0a14ce9d15a13d74ee872ec191e8a49c","first_computed_at":"2026-07-05T09:15:41.164311Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:15:41.164311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HUZtOXfVWc8rBYL/XSr8txsiwSxeIGpo8loQf4LjP1m4jujUispYldtl/O2Twa74oD1lmh6hjrm2x5WU1Mi0CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:15:41.164717Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.02891","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:beff5c75ac6cad44cb43142cf649951aa1120483ce332089bf5d7e782514112c","sha256:5a99d3497cda69d3e1d7ffe17a5cb9b874118dde9cad241674e1be440a79b10c"],"state_sha256":"c6872e7d22c9fbbc1a5c2e8d7d8d0dad6b6a5fe67d1a8f86a2f40bdc41525e48"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vtJiK7mbNvXNLywPTBzkJV8aB3Jwh4D9xYV5pY8ca1r5AKki8Sa5KtwQG2g3FHBWaPum1vR1fTYVywfE5av5BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T06:45:24.310339Z","bundle_sha256":"0f0289e49f45243a9eebb317f7a2b1433b9aed7ea3e8224c7977f4c385a09139"}}