{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:DRIDOSVEHRHZPJRNQJUY57HINS","short_pith_number":"pith:DRIDOSVE","canonical_record":{"source":{"id":"2410.01046","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-01T20:08:45Z","cross_cats_sorted":[],"title_canon_sha256":"6016ae197a950a6bb7dcfd0f9b31e8cb40e07d49139b656b819aff268efafade","abstract_canon_sha256":"bd97edc30b607e387dc7f25e3c58f75b6deacf40ef7faf21df4fdcbc82e2f116"},"schema_version":"1.0"},"canonical_sha256":"1c50374aa43c4f97a62d82698efce86cba9eb035276fdc637deed697d97204da","source":{"kind":"arxiv","id":"2410.01046","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.01046","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"arxiv_version","alias_value":"2410.01046v1","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.01046","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_12","alias_value":"DRIDOSVEHRHZ","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_16","alias_value":"DRIDOSVEHRHZPJRN","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_8","alias_value":"DRIDOSVE","created_at":"2026-07-05T09:14:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:DRIDOSVEHRHZPJRNQJUY57HINS","target":"record","payload":{"canonical_record":{"source":{"id":"2410.01046","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-01T20:08:45Z","cross_cats_sorted":[],"title_canon_sha256":"6016ae197a950a6bb7dcfd0f9b31e8cb40e07d49139b656b819aff268efafade","abstract_canon_sha256":"bd97edc30b607e387dc7f25e3c58f75b6deacf40ef7faf21df4fdcbc82e2f116"},"schema_version":"1.0"},"canonical_sha256":"1c50374aa43c4f97a62d82698efce86cba9eb035276fdc637deed697d97204da","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:14:42.402535Z","signature_b64":"AwGcz/5FHfVy8MdvwWyONWPqyRUIuldmaAJ53eUOvJa5xVJ1xGy5gSdGAZaZPwSo6QPikhdsWMgqFEUBn1ZlBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1c50374aa43c4f97a62d82698efce86cba9eb035276fdc637deed697d97204da","last_reissued_at":"2026-07-05T09:14:42.402044Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:14:42.402044Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.01046","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":"2026-07-05T09:14:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/ozIiB21ookaAzEcFESH0cTofySBuU5oeaDNombasdlLyBo3/y3yW3nCsP9bU2wq1ceTCEocUilQQmv4lYcRAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T23:38:17.911373Z"},"content_sha256":"249c0fda9e99ad22c262e20d269bc1ae85f176db0f7f0cc754344258e70f4b1a","schema_version":"1.0","event_id":"sha256:249c0fda9e99ad22c262e20d269bc1ae85f176db0f7f0cc754344258e70f4b1a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:DRIDOSVEHRHZPJRNQJUY57HINS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Baxi Chong, Daniel I Goldman, Daniel Soto, Jianfeng Lin, Juntao He, Massimiliano Iaschi, Tianyu Wang, Zhaochen Xu","submitted_at":"2024-10-01T20:08:45Z","abstract_excerpt":"Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-rescue and terrain inspection. Prior work has developed effective and reliable locomotion strategies for multi-legged robots by propagating the two waves of lateral body undulation and leg stepping, which we will refer to as the two-wave template. However, these robots have limited capability to climb over obstacles with sizes comparable to their heights. We hypothesize that such limitations stem from the two-wave tem"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.01046","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/2410.01046/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":"2026-07-05T09:14:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f8OSdyctRhdb2xQVovE2Y39UOy7x/fr0FgePMWKR75eHIssg/8huIFR+M0rElNdAEGuHQtpCRsLE85a/daawAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T23:38:17.911751Z"},"content_sha256":"fc66c5fb18d71fc249cd3742620f16f0421e21fee236b4bb7bf8a3b3457d6aa4","schema_version":"1.0","event_id":"sha256:fc66c5fb18d71fc249cd3742620f16f0421e21fee236b4bb7bf8a3b3457d6aa4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DRIDOSVEHRHZPJRNQJUY57HINS/bundle.json","state_url":"https://pith.science/pith/DRIDOSVEHRHZPJRNQJUY57HINS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DRIDOSVEHRHZPJRNQJUY57HINS/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":"2026-07-09T23:38:17Z","links":{"resolver":"https://pith.science/pith/DRIDOSVEHRHZPJRNQJUY57HINS","bundle":"https://pith.science/pith/DRIDOSVEHRHZPJRNQJUY57HINS/bundle.json","state":"https://pith.science/pith/DRIDOSVEHRHZPJRNQJUY57HINS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DRIDOSVEHRHZPJRNQJUY57HINS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:DRIDOSVEHRHZPJRNQJUY57HINS","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":"bd97edc30b607e387dc7f25e3c58f75b6deacf40ef7faf21df4fdcbc82e2f116","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-01T20:08:45Z","title_canon_sha256":"6016ae197a950a6bb7dcfd0f9b31e8cb40e07d49139b656b819aff268efafade"},"schema_version":"1.0","source":{"id":"2410.01046","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.01046","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"arxiv_version","alias_value":"2410.01046v1","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.01046","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_12","alias_value":"DRIDOSVEHRHZ","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_16","alias_value":"DRIDOSVEHRHZPJRN","created_at":"2026-07-05T09:14:42Z"},{"alias_kind":"pith_short_8","alias_value":"DRIDOSVE","created_at":"2026-07-05T09:14:42Z"}],"graph_snapshots":[{"event_id":"sha256:fc66c5fb18d71fc249cd3742620f16f0421e21fee236b4bb7bf8a3b3457d6aa4","target":"graph","created_at":"2026-07-05T09:14:42Z","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/2410.01046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-rescue and terrain inspection. Prior work has developed effective and reliable locomotion strategies for multi-legged robots by propagating the two waves of lateral body undulation and leg stepping, which we will refer to as the two-wave template. However, these robots have limited capability to climb over obstacles with sizes comparable to their heights. We hypothesize that such limitations stem from the two-wave tem","authors_text":"Baxi Chong, Daniel I Goldman, Daniel Soto, Jianfeng Lin, Juntao He, Massimiliano Iaschi, Tianyu Wang, Zhaochen Xu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-01T20:08:45Z","title":"Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.01046","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":"sha256:249c0fda9e99ad22c262e20d269bc1ae85f176db0f7f0cc754344258e70f4b1a","target":"record","created_at":"2026-07-05T09:14:42Z","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":"bd97edc30b607e387dc7f25e3c58f75b6deacf40ef7faf21df4fdcbc82e2f116","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-01T20:08:45Z","title_canon_sha256":"6016ae197a950a6bb7dcfd0f9b31e8cb40e07d49139b656b819aff268efafade"},"schema_version":"1.0","source":{"id":"2410.01046","kind":"arxiv","version":1}},"canonical_sha256":"1c50374aa43c4f97a62d82698efce86cba9eb035276fdc637deed697d97204da","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1c50374aa43c4f97a62d82698efce86cba9eb035276fdc637deed697d97204da","first_computed_at":"2026-07-05T09:14:42.402044Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:14:42.402044Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"AwGcz/5FHfVy8MdvwWyONWPqyRUIuldmaAJ53eUOvJa5xVJ1xGy5gSdGAZaZPwSo6QPikhdsWMgqFEUBn1ZlBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:14:42.402535Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.01046","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:249c0fda9e99ad22c262e20d269bc1ae85f176db0f7f0cc754344258e70f4b1a","sha256:fc66c5fb18d71fc249cd3742620f16f0421e21fee236b4bb7bf8a3b3457d6aa4"],"state_sha256":"450d88d3dec1c5b3302b1d8088b4a5875a24b6d4518869ef3c47d604de9ed51f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"70BvE7yvyW0Mmvxv6z+KOKgP+HU2VvTI3rrarQY5X1Bz/IiKWspZOdIxTKulG1yj+MKzzR2hZksOkH9o0tNwBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T23:38:17.913824Z","bundle_sha256":"d674edc5696093ae8c1d8c315ce325db564f36a81816f866fd3e555999b157af"}}