{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FH5LVACUQSMWCFNQFNYWEBVQZO","short_pith_number":"pith:FH5LVACU","canonical_record":{"source":{"id":"2605.20932","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T09:19:48Z","cross_cats_sorted":[],"title_canon_sha256":"0e4bdd97a9b47ae40488915f180bf286ce63c759fa712ddec9395e26395a2396","abstract_canon_sha256":"fa669c1ca3e96ebd4fd78cf84fb3d8cdf327cef09d18fb13279442006fc5f1d9"},"schema_version":"1.0"},"canonical_sha256":"29faba805484996115b02b716206b0cb8d81cb2ca90d850c5d3ca03811e3b17f","source":{"kind":"arxiv","id":"2605.20932","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.20932","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"arxiv_version","alias_value":"2605.20932v1","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.20932","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_12","alias_value":"FH5LVACUQSMW","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_16","alias_value":"FH5LVACUQSMWCFNQ","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_8","alias_value":"FH5LVACU","created_at":"2026-05-21T01:05:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FH5LVACUQSMWCFNQFNYWEBVQZO","target":"record","payload":{"canonical_record":{"source":{"id":"2605.20932","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T09:19:48Z","cross_cats_sorted":[],"title_canon_sha256":"0e4bdd97a9b47ae40488915f180bf286ce63c759fa712ddec9395e26395a2396","abstract_canon_sha256":"fa669c1ca3e96ebd4fd78cf84fb3d8cdf327cef09d18fb13279442006fc5f1d9"},"schema_version":"1.0"},"canonical_sha256":"29faba805484996115b02b716206b0cb8d81cb2ca90d850c5d3ca03811e3b17f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-21T01:05:28.771677Z","signature_b64":"R1kOVM24YXnXHyF+qV+Ek4AvEKDslzx/5/uiUs0i7amcNId3rhRpM7dBL5puLz9SSUOcSs7pO1HWG9ttJpc8BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"29faba805484996115b02b716206b0cb8d81cb2ca90d850c5d3ca03811e3b17f","last_reissued_at":"2026-05-21T01:05:28.770988Z","signature_status":"signed_v1","first_computed_at":"2026-05-21T01:05:28.770988Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.20932","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":"2026-05-21T01:05:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DzgkvVaQi+qvQu3QKDAy2LBH6FBVy6nF4sYd7IgvOfHO1zikHWnDMlYe+X0zePgzR5aQ9eOSY1EjYTRaz+ZJDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T04:53:10.949630Z"},"content_sha256":"652e1bf10e4fd7db701424b0cd75364b9f2e85b706e0c451d9ec1a6da629c68e","schema_version":"1.0","event_id":"sha256:652e1bf10e4fd7db701424b0cd75364b9f2e85b706e0c451d9ec1a6da629c68e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FH5LVACUQSMWCFNQFNYWEBVQZO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kento Kawaharazuka, Shintaro Inoue, Sota Yuzaki, Temma Suzuki","submitted_at":"2026-05-20T09:19:48Z","abstract_excerpt":"Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore, they do not have a means to repurpose their legs for roles other than locomotion, such as object manipulation or tool utilization. In this paper, we address the problem of how to draw out the potential task-execution capability of the legs by freeing them from the roles of locomotion through external body support. To this end, we propose and develop a new robot"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.20932","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/2605.20932/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":"2026-05-21T01:05:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6+fE4kEXxaya17JzhW3Q8Hb7G8YXFUAIpiw9EtpAqW2MNwEuPdbGHlRGQ8w9nM4tF8XJfo4wHSQI/dUdMldUDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T04:53:10.949999Z"},"content_sha256":"bb11daa3e9cb815ed4047db08919ff77bbd2cf65be2b13f07ed4f831f19553a1","schema_version":"1.0","event_id":"sha256:bb11daa3e9cb815ed4047db08919ff77bbd2cf65be2b13f07ed4f831f19553a1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/bundle.json","state_url":"https://pith.science/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/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":"2026-05-28T04:53:10Z","links":{"resolver":"https://pith.science/pith/FH5LVACUQSMWCFNQFNYWEBVQZO","bundle":"https://pith.science/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/bundle.json","state":"https://pith.science/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FH5LVACUQSMWCFNQFNYWEBVQZO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FH5LVACUQSMWCFNQFNYWEBVQZO","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":"fa669c1ca3e96ebd4fd78cf84fb3d8cdf327cef09d18fb13279442006fc5f1d9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T09:19:48Z","title_canon_sha256":"0e4bdd97a9b47ae40488915f180bf286ce63c759fa712ddec9395e26395a2396"},"schema_version":"1.0","source":{"id":"2605.20932","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.20932","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"arxiv_version","alias_value":"2605.20932v1","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.20932","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_12","alias_value":"FH5LVACUQSMW","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_16","alias_value":"FH5LVACUQSMWCFNQ","created_at":"2026-05-21T01:05:28Z"},{"alias_kind":"pith_short_8","alias_value":"FH5LVACU","created_at":"2026-05-21T01:05:28Z"}],"graph_snapshots":[{"event_id":"sha256:bb11daa3e9cb815ed4047db08919ff77bbd2cf65be2b13f07ed4f831f19553a1","target":"graph","created_at":"2026-05-21T01:05:28Z","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/2605.20932/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore, they do not have a means to repurpose their legs for roles other than locomotion, such as object manipulation or tool utilization. In this paper, we address the problem of how to draw out the potential task-execution capability of the legs by freeing them from the roles of locomotion through external body support. To this end, we propose and develop a new robot","authors_text":"Kei Okada, Kento Kawaharazuka, Shintaro Inoue, Sota Yuzaki, Temma Suzuki","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T09:19:48Z","title":"WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.20932","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":"sha256:652e1bf10e4fd7db701424b0cd75364b9f2e85b706e0c451d9ec1a6da629c68e","target":"record","created_at":"2026-05-21T01:05:28Z","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":"fa669c1ca3e96ebd4fd78cf84fb3d8cdf327cef09d18fb13279442006fc5f1d9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T09:19:48Z","title_canon_sha256":"0e4bdd97a9b47ae40488915f180bf286ce63c759fa712ddec9395e26395a2396"},"schema_version":"1.0","source":{"id":"2605.20932","kind":"arxiv","version":1}},"canonical_sha256":"29faba805484996115b02b716206b0cb8d81cb2ca90d850c5d3ca03811e3b17f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"29faba805484996115b02b716206b0cb8d81cb2ca90d850c5d3ca03811e3b17f","first_computed_at":"2026-05-21T01:05:28.770988Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-21T01:05:28.770988Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"R1kOVM24YXnXHyF+qV+Ek4AvEKDslzx/5/uiUs0i7amcNId3rhRpM7dBL5puLz9SSUOcSs7pO1HWG9ttJpc8BA==","signature_status":"signed_v1","signed_at":"2026-05-21T01:05:28.771677Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.20932","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:652e1bf10e4fd7db701424b0cd75364b9f2e85b706e0c451d9ec1a6da629c68e","sha256:bb11daa3e9cb815ed4047db08919ff77bbd2cf65be2b13f07ed4f831f19553a1"],"state_sha256":"d7f9865fde5ac4c691d251997434a074a5f4f0268bbd3b2942679f593b1a9531"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mYkHU/w9qYUnkoteh2Rhu7wPwN2lk/K0QojU//p9HcQHRnRc8HlRMwUkuEpX8DTqsukXpPDxoYZvxNn+YqNmCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T04:53:10.952009Z","bundle_sha256":"72b70c182ddc668487bba11f86964c4bcba09df54650b52410df3ffae62d3e09"}}