{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:GY6UFPFYXDLHWNUVPW7U6WBOND","short_pith_number":"pith:GY6UFPFY","canonical_record":{"source":{"id":"2304.01159","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-03T17:26:09Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"bdb25434e50940f2f7954f678b25e88b2e639fea65b6cb0f3c33c9cf90d02c28","abstract_canon_sha256":"997df21328ca214134704ee0234018e4a59738175a07c509396709872f344bee"},"schema_version":"1.0"},"canonical_sha256":"363d42bcb8b8d67b36957dbf4f582e68cebe647150d53a33be00caa9b8760595","source":{"kind":"arxiv","id":"2304.01159","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.01159","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"arxiv_version","alias_value":"2304.01159v1","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.01159","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_12","alias_value":"GY6UFPFYXDLH","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_16","alias_value":"GY6UFPFYXDLHWNUV","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_8","alias_value":"GY6UFPFY","created_at":"2026-07-05T05:57:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:GY6UFPFYXDLHWNUVPW7U6WBOND","target":"record","payload":{"canonical_record":{"source":{"id":"2304.01159","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-03T17:26:09Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"bdb25434e50940f2f7954f678b25e88b2e639fea65b6cb0f3c33c9cf90d02c28","abstract_canon_sha256":"997df21328ca214134704ee0234018e4a59738175a07c509396709872f344bee"},"schema_version":"1.0"},"canonical_sha256":"363d42bcb8b8d67b36957dbf4f582e68cebe647150d53a33be00caa9b8760595","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:57:27.270794Z","signature_b64":"rJrCvUYVia7ujRjQYT1GIKJ0XZTMT/ghZqL/84UPKFzViGqlrZD9NEeQZnBAv44M4/DDxpswRTY6SrNCnxmGDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"363d42bcb8b8d67b36957dbf4f582e68cebe647150d53a33be00caa9b8760595","last_reissued_at":"2026-07-05T05:57:27.270237Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:57:27.270237Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2304.01159","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":"2026-07-05T05:57:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F/TIvf8a6wr4b5OftdkJW3L4ZdLnYZzJtfD1O7IjNbO6h8DROJN5LLveMDxI8yj+jHUkSOCXjwhIYYjdnasNAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T16:10:24.135551Z"},"content_sha256":"773bfcb3ade9922711464f08e10ae85a272e8bd347bce2676b42a2a5c74c9cab","schema_version":"1.0","event_id":"sha256:773bfcb3ade9922711464f08e10ae85a272e8bd347bce2676b42a2a5c74c9cab"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:GY6UFPFYXDLHWNUVPW7U6WBOND","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DribbleBot: Dynamic Legged Manipulation in the Wild","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Gabriel B. Margolis, Pulkit Agrawal, Yandong Ji","submitted_at":"2023-04-03T17:26:09Z","abstract_excerpt":"DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in simulation using reinforcement learning and transferring them into the real world. We overcome critical challenges of accounting for variable ball motion dynamics on different terrains and perceiving the ball using body-mounted cameras under the constraints of onboard computing. Our results provide evidence that current quadruped platforms are well-suited for study"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.01159","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/2304.01159/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":"2026-07-05T05:57:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KaZ6g5NuzWwNuTU0HvJZ9W8QL26Ej8DilIb9g8EAhqnNnTI9fnzyE9INCSL2EX2X14z4wwpvoZq8Jdpwhc5UAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T16:10:24.135930Z"},"content_sha256":"934f82760bc9ff0d563c8562a1377dce85e06e63675eda729df9560c660cf0ec","schema_version":"1.0","event_id":"sha256:934f82760bc9ff0d563c8562a1377dce85e06e63675eda729df9560c660cf0ec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/bundle.json","state_url":"https://pith.science/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/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":"2026-08-05T16:10:24Z","links":{"resolver":"https://pith.science/pith/GY6UFPFYXDLHWNUVPW7U6WBOND","bundle":"https://pith.science/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/bundle.json","state":"https://pith.science/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GY6UFPFYXDLHWNUVPW7U6WBOND/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:GY6UFPFYXDLHWNUVPW7U6WBOND","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":"997df21328ca214134704ee0234018e4a59738175a07c509396709872f344bee","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-03T17:26:09Z","title_canon_sha256":"bdb25434e50940f2f7954f678b25e88b2e639fea65b6cb0f3c33c9cf90d02c28"},"schema_version":"1.0","source":{"id":"2304.01159","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.01159","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"arxiv_version","alias_value":"2304.01159v1","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.01159","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_12","alias_value":"GY6UFPFYXDLH","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_16","alias_value":"GY6UFPFYXDLHWNUV","created_at":"2026-07-05T05:57:27Z"},{"alias_kind":"pith_short_8","alias_value":"GY6UFPFY","created_at":"2026-07-05T05:57:27Z"}],"graph_snapshots":[{"event_id":"sha256:934f82760bc9ff0d563c8562a1377dce85e06e63675eda729df9560c660cf0ec","target":"graph","created_at":"2026-07-05T05:57:27Z","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/2304.01159/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in simulation using reinforcement learning and transferring them into the real world. We overcome critical challenges of accounting for variable ball motion dynamics on different terrains and perceiving the ball using body-mounted cameras under the constraints of onboard computing. Our results provide evidence that current quadruped platforms are well-suited for study","authors_text":"Gabriel B. Margolis, Pulkit Agrawal, Yandong Ji","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-03T17:26:09Z","title":"DribbleBot: Dynamic Legged Manipulation in the Wild"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.01159","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":"sha256:773bfcb3ade9922711464f08e10ae85a272e8bd347bce2676b42a2a5c74c9cab","target":"record","created_at":"2026-07-05T05:57:27Z","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":"997df21328ca214134704ee0234018e4a59738175a07c509396709872f344bee","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-03T17:26:09Z","title_canon_sha256":"bdb25434e50940f2f7954f678b25e88b2e639fea65b6cb0f3c33c9cf90d02c28"},"schema_version":"1.0","source":{"id":"2304.01159","kind":"arxiv","version":1}},"canonical_sha256":"363d42bcb8b8d67b36957dbf4f582e68cebe647150d53a33be00caa9b8760595","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"363d42bcb8b8d67b36957dbf4f582e68cebe647150d53a33be00caa9b8760595","first_computed_at":"2026-07-05T05:57:27.270237Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:57:27.270237Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rJrCvUYVia7ujRjQYT1GIKJ0XZTMT/ghZqL/84UPKFzViGqlrZD9NEeQZnBAv44M4/DDxpswRTY6SrNCnxmGDA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:57:27.270794Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.01159","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:773bfcb3ade9922711464f08e10ae85a272e8bd347bce2676b42a2a5c74c9cab","sha256:934f82760bc9ff0d563c8562a1377dce85e06e63675eda729df9560c660cf0ec"],"state_sha256":"6ecd5ae9e99d9a3329e209ca89e1caa254d805a83846e0e9a3545ab476ff59b8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZlwQCZ1D+uwS2gHycXqoH4jcIaDjf0sbDD9K586s/3B1N9YXAvgiiWqr7gOWnE+LyqCxjG3pCO0jkSZq2WXmCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T16:10:24.138326Z","bundle_sha256":"f6ba7073626e5144502ac52643542d0cf25b3ddcabc903062bbfc41dde4e744b"}}