{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:FUAVAZWTVKZRCTPHCTGFTRQNY7","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":"c72f7fe541a5bcfb1f0b9d4cd1ffa5598573bcb226353cb2ae8ab5c320228f77","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2019-05-22T02:28:39Z","title_canon_sha256":"93a57cdeba7bf25b9b4b24e4887242cb33c47fa883bd02ce5dfbd5a8173fc6ec"},"schema_version":"1.0","source":{"id":"1905.08926","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.08926","created_at":"2026-05-17T23:45:24Z"},{"alias_kind":"arxiv_version","alias_value":"1905.08926v1","created_at":"2026-05-17T23:45:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.08926","created_at":"2026-05-17T23:45:24Z"},{"alias_kind":"pith_short_12","alias_value":"FUAVAZWTVKZR","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"FUAVAZWTVKZRCTPH","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"FUAVAZWT","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:dcdc30fa8b75395f3e3015a0ad1d43aafa04c4d57ae58a73ddfe83d383d9cdcf","target":"graph","created_at":"2026-05-17T23:45:24Z","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"},"paper":{"abstract_excerpt":"Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex locomotion tasks. A high-level policy issues commands in a latent space and also selects for how long the low-level policy will execute the latent command. Concurrently, the low-level policy uses the latent command and only the robot's on-board sensors to control the robot's actuators. Our approach allows the high-level policy to run at a lower frequency than the","authors_text":"Atil Iscen, Deepali Jain, Ken Caluwaerts","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2019-05-22T02:28:39Z","title":"Hierarchical Reinforcement Learning for Quadruped Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.08926","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:edbfa2450b3a9b79be0a22158a4e0ccfb12d313b709a2c00d297150905f78871","target":"record","created_at":"2026-05-17T23:45:24Z","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":"c72f7fe541a5bcfb1f0b9d4cd1ffa5598573bcb226353cb2ae8ab5c320228f77","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2019-05-22T02:28:39Z","title_canon_sha256":"93a57cdeba7bf25b9b4b24e4887242cb33c47fa883bd02ce5dfbd5a8173fc6ec"},"schema_version":"1.0","source":{"id":"1905.08926","kind":"arxiv","version":1}},"canonical_sha256":"2d015066d3aab3114de714cc59c60dc7db50e49bf1dc7bdaf82d45cc90afa391","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2d015066d3aab3114de714cc59c60dc7db50e49bf1dc7bdaf82d45cc90afa391","first_computed_at":"2026-05-17T23:45:24.841286Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:45:24.841286Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tppHtaHMDr5Hc4HIzpTe6cKX9SxwN9GFVGTfVEJns0SPyPux+hq7Wm4PwDqX822D3kLPARxAYFdIsyqDgrORAw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:45:24.841658Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.08926","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:edbfa2450b3a9b79be0a22158a4e0ccfb12d313b709a2c00d297150905f78871","sha256:dcdc30fa8b75395f3e3015a0ad1d43aafa04c4d57ae58a73ddfe83d383d9cdcf"],"state_sha256":"fe5d14240570c5c3242327297ade09e840f2949d29b2ae997b665e4082ab0e79"}