{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:DTL5VTOFOEA5LXEYXCMDMWN5OI","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":"70c61f7094a6e339566a0003bf16f16f4d00ddff11729324dc48686b13369320","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-18T18:16:59Z","title_canon_sha256":"ef90e812097b2b37879baf6faf50f91efcb1bf7e7b6026a844c72d69d26abb7c"},"schema_version":"1.0","source":{"id":"2506.15788","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.15788","created_at":"2026-07-05T11:23:52Z"},{"alias_kind":"arxiv_version","alias_value":"2506.15788v1","created_at":"2026-07-05T11:23:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.15788","created_at":"2026-07-05T11:23:52Z"},{"alias_kind":"pith_short_12","alias_value":"DTL5VTOFOEA5","created_at":"2026-07-05T11:23:52Z"},{"alias_kind":"pith_short_16","alias_value":"DTL5VTOFOEA5LXEY","created_at":"2026-07-05T11:23:52Z"},{"alias_kind":"pith_short_8","alias_value":"DTL5VTOF","created_at":"2026-07-05T11:23:52Z"}],"graph_snapshots":[{"event_id":"sha256:ab157163bb2cbbedfde712191fdb50fb7a30b9f6e1d19dec20a8ef8dac5dcc83","target":"graph","created_at":"2026-07-05T11:23:52Z","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/2506.15788/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on high-bandwidth sensing and onboard computation to perceive/respond to terrain uncertainties. Further, current locomotion strategies typically require extensive robot-specific training, limiting their generalizability across platforms. Building on our prior research connecting robot-environment interaction and communication theory, we develop a new paradigm to construct robust and simply controlled multi-legged elongate ","authors_text":"Baxi Chong, Daniel I. Goldman, Daniel Irvine, Daniel Soto, Esteban Flores, Grigoriy Blekherman, Jianfeng Lin, Juntao He, Tianyu Wang, Vincent R Nienhusser, Zhaochen Xu","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-18T18:16:59Z","title":"Robust control for multi-legged elongate robots in noisy environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.15788","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":"sha256:1e7f25e115352f8e23ff5fe0c82d3934d99b160d3fcf8ec63bc2c839c47357fb","target":"record","created_at":"2026-07-05T11:23:52Z","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":"70c61f7094a6e339566a0003bf16f16f4d00ddff11729324dc48686b13369320","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-18T18:16:59Z","title_canon_sha256":"ef90e812097b2b37879baf6faf50f91efcb1bf7e7b6026a844c72d69d26abb7c"},"schema_version":"1.0","source":{"id":"2506.15788","kind":"arxiv","version":1}},"canonical_sha256":"1cd7dacdc57101d5dc98b8983659bd723f9c5079bd9edf20fbe3764e04fe5eef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1cd7dacdc57101d5dc98b8983659bd723f9c5079bd9edf20fbe3764e04fe5eef","first_computed_at":"2026-07-05T11:23:52.242035Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:23:52.242035Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7jlBDQyIlkuh0vrHGvhRZtJ6D/QUgICgEkUGttmAT1GLiFusoXCYQhddwoV5wqSyzJWUoDcm9km3f+5urFtuCw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:23:52.242609Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.15788","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1e7f25e115352f8e23ff5fe0c82d3934d99b160d3fcf8ec63bc2c839c47357fb","sha256:ab157163bb2cbbedfde712191fdb50fb7a30b9f6e1d19dec20a8ef8dac5dcc83"],"state_sha256":"c696a649775391966b7218aa41f4ae3be0613d53b549665ea47cddb17bc4dda6"}