{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:G37CZCNPNY627BFEZFDG4UERDL","short_pith_number":"pith:G37CZCNP","schema_version":"1.0","canonical_sha256":"36fe2c89af6e3daf84a4c9466e50911ae9145c80705a9aa9cf1524d7bc9eb7fb","source":{"kind":"arxiv","id":"2606.05501","version":1},"attestation_state":"computed","paper":{"title":"Learning Contact Representation for Leg Odometry","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cagri Kilic, Emre Girgin","submitted_at":"2026-06-03T22:50:45Z","abstract_excerpt":"The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the kinematic serial chain of the feet making accurate leg phase detection is a critical subproblem. A considerable number of studies employ ground reaction force sensors mounted at the tip of the foot to classify, yet these sensors may not be universally available for all legged robots. Additionally, these sensors are often unresponsive to unaccounted disturbances, such as slippag"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.05501","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-03T22:50:45Z","cross_cats_sorted":[],"title_canon_sha256":"3262a35dcd78ae862d3ceb6371577694ef36a57f776904a2ea5f654560ed446e","abstract_canon_sha256":"352983ce7e8edce331667a162164cad63fc188378869fb37697a23598c970d60"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-05T01:14:53.061748Z","signature_b64":"Ed0ItjvQKN2gy75Zn4XK+lVkd1z6dj0CrVEerxrCMz4pfGW+tRlbZtfxTRPik62FrTonOmEfLmAnib9NXAL1AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"36fe2c89af6e3daf84a4c9466e50911ae9145c80705a9aa9cf1524d7bc9eb7fb","last_reissued_at":"2026-06-05T01:14:53.061271Z","signature_status":"signed_v1","first_computed_at":"2026-06-05T01:14:53.061271Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Learning Contact Representation for Leg Odometry","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cagri Kilic, Emre Girgin","submitted_at":"2026-06-03T22:50:45Z","abstract_excerpt":"The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the kinematic serial chain of the feet making accurate leg phase detection is a critical subproblem. A considerable number of studies employ ground reaction force sensors mounted at the tip of the foot to classify, yet these sensors may not be universally available for all legged robots. Additionally, these sensors are often unresponsive to unaccounted disturbances, such as slippag"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05501","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/2606.05501/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.05501","created_at":"2026-06-05T01:14:53.061357+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.05501v1","created_at":"2026-06-05T01:14:53.061357+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05501","created_at":"2026-06-05T01:14:53.061357+00:00"},{"alias_kind":"pith_short_12","alias_value":"G37CZCNPNY62","created_at":"2026-06-05T01:14:53.061357+00:00"},{"alias_kind":"pith_short_16","alias_value":"G37CZCNPNY627BFE","created_at":"2026-06-05T01:14:53.061357+00:00"},{"alias_kind":"pith_short_8","alias_value":"G37CZCNP","created_at":"2026-06-05T01:14:53.061357+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL","json":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL.json","graph_json":"https://pith.science/api/pith-number/G37CZCNPNY627BFEZFDG4UERDL/graph.json","events_json":"https://pith.science/api/pith-number/G37CZCNPNY627BFEZFDG4UERDL/events.json","paper":"https://pith.science/paper/G37CZCNP"},"agent_actions":{"view_html":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL","download_json":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL.json","view_paper":"https://pith.science/paper/G37CZCNP","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.05501&json=true","fetch_graph":"https://pith.science/api/pith-number/G37CZCNPNY627BFEZFDG4UERDL/graph.json","fetch_events":"https://pith.science/api/pith-number/G37CZCNPNY627BFEZFDG4UERDL/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL/action/timestamp_anchor","attest_storage":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL/action/storage_attestation","attest_author":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL/action/author_attestation","sign_citation":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL/action/citation_signature","submit_replication":"https://pith.science/pith/G37CZCNPNY627BFEZFDG4UERDL/action/replication_record"}},"created_at":"2026-06-05T01:14:53.061357+00:00","updated_at":"2026-06-05T01:14:53.061357+00:00"}