Pith Number

pith:HBGCVZAH

pith:2026:HBGCVZAH3DHLUBHUTYMGFUC4RF

not attested not anchored not stored refs pending

CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots

Karthik Dantu, Kartikeya Singh, Yash Turkar, Youngjin Kim

CART combines vision and proprioception with temporal sequences to enable stable walking on complex terrain for legged robots.

arxiv:2604.14344 v2 · 2026-04-15 · cs.RO

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\usepackage{pith}
\pithnumber{HBGCVZAH3DHLUBHUTYMGFUC4RF}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

CART achieves an average success rate improvement of 5% over all baselines in simulation and improves the overall stability up to 45% and 24% in the real world without increasing the time taken by the robot to accomplish locomotion tasks.

C2weakest assumption

That vibrational stability measured at the robot base is a sufficient and unbiased metric for evaluating the quality of learned contextual terrain properties, and that temporal sequence selection reliably produces a robust multimodal understanding without overfitting to the specific test terrains.

C3one line summary

CART integrates vision and body sensing via temporal sequences to improve legged robot stability and success rates on complex terrain by 5% in simulation and up to 45% in real-world tests.

Receipt and verification

First computed	2026-06-02T02:04:17.394165Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

384c2ae407d8ceba04f49e1862d05c89487c4f90a0385ff6e696b7a4e249d35a

Aliases

arxiv: 2604.14344 · arxiv_version: 2604.14344v2 · doi: 10.48550/arxiv.2604.14344 · pith_short_12: HBGCVZAH3DHL · pith_short_16: HBGCVZAH3DHLUBHU · pith_short_8: HBGCVZAH

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/HBGCVZAH3DHLUBHUTYMGFUC4RF \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 384c2ae407d8ceba04f49e1862d05c89487c4f90a0385ff6e696b7a4e249d35a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "09b04a5da20719053d1607b82a245cfb03ac1fb44755778d61b13e0d906f0611",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-15T18:52:50Z",
    "title_canon_sha256": "2ef9e98fe57590ec258b511931283cd679550bd9a7ed591ccb375173594622d5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.14344",
    "kind": "arxiv",
    "version": 2
  }
}