{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:HQTPJBWNI4YBRSUIDMVSHUUKW7","short_pith_number":"pith:HQTPJBWN","canonical_record":{"source":{"id":"1904.04600","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-09T11:30:24Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"b0e878c09f9bb797c84d5906a89a9091a679668f0ac80e45acb312fe3081b6e3","abstract_canon_sha256":"6ca8d4903462c28fc6f8e7909c0890953fa0f359989f0097d21e5185d2425c90"},"schema_version":"1.0"},"canonical_sha256":"3c26f486cd473018ca881b2b23d28ab7ef9dfd0dc2c3cd4ae0b7ba48f75a2923","source":{"kind":"arxiv","id":"1904.04600","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.04600","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"arxiv_version","alias_value":"1904.04600v1","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.04600","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"pith_short_12","alias_value":"HQTPJBWNI4YB","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQTPJBWNI4YBRSUI","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQTPJBWN","created_at":"2026-05-18T12:33:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:HQTPJBWNI4YBRSUIDMVSHUUKW7","target":"record","payload":{"canonical_record":{"source":{"id":"1904.04600","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-09T11:30:24Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"b0e878c09f9bb797c84d5906a89a9091a679668f0ac80e45acb312fe3081b6e3","abstract_canon_sha256":"6ca8d4903462c28fc6f8e7909c0890953fa0f359989f0097d21e5185d2425c90"},"schema_version":"1.0"},"canonical_sha256":"3c26f486cd473018ca881b2b23d28ab7ef9dfd0dc2c3cd4ae0b7ba48f75a2923","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:48:58.646310Z","signature_b64":"EVIDuxkTZUspD7u3aRGjIE744h/8Gl0hZKipiqnYM2d6g4Dpf0TdpqnDct4kxtekCutaNWYyUBzYytQniEhdBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3c26f486cd473018ca881b2b23d28ab7ef9dfd0dc2c3cd4ae0b7ba48f75a2923","last_reissued_at":"2026-05-17T23:48:58.645843Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:48:58.645843Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.04600","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":"2026-05-17T23:48:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PcwO9syh5VXDbGqtLr07rCyJxnApnSjMYJ5YVimW1U8jLsByq9lmywz1FDHqzTKeBINZQyNKXuG39TCsathJDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T04:55:05.966856Z"},"content_sha256":"e938f752698614dada1ae33d40000ea628f9aca4e94d08a54f23f5c9b7fd58a0","schema_version":"1.0","event_id":"sha256:e938f752698614dada1ae33d40000ea628f9aca4e94d08a54f23f5c9b7fd58a0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:HQTPJBWNI4YBRSUIDMVSHUUKW7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Carlos Mastalli, Claudio Semini, Darwin G. Caldwell, Ioannis Havoutis, Michele Focchi","submitted_at":"2019-04-09T11:30:24Z","abstract_excerpt":"Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a hierarchical trajectory optimization approach for planning dynamic movements with unscheduled contact sequences. We compute whole-body motions that achieve goals that cannot be reached in a kinematic fashion. First, we find a feasible CoM motion according to the centroidal dynamics of the robot. Then, we refine the solution by applying the robot's full-dynamics mo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.04600","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":""},"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":"2026-05-17T23:48:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mObFU8xqy/otys0H+MOtQN/Nt1CWxehEdE9B7Sl/lR8OjFW1f2ANjhF8loC9TF95Z8gwW8ngLp2THm9FK40SCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T04:55:05.967468Z"},"content_sha256":"d0404e10caa8458db4787be6e29c6d6fd636b494c4fe96b5a16ac73098e28f6a","schema_version":"1.0","event_id":"sha256:d0404e10caa8458db4787be6e29c6d6fd636b494c4fe96b5a16ac73098e28f6a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/bundle.json","state_url":"https://pith.science/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/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":"2026-05-30T04:55:05Z","links":{"resolver":"https://pith.science/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7","bundle":"https://pith.science/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/bundle.json","state":"https://pith.science/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HQTPJBWNI4YBRSUIDMVSHUUKW7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:HQTPJBWNI4YBRSUIDMVSHUUKW7","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":"6ca8d4903462c28fc6f8e7909c0890953fa0f359989f0097d21e5185d2425c90","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-09T11:30:24Z","title_canon_sha256":"b0e878c09f9bb797c84d5906a89a9091a679668f0ac80e45acb312fe3081b6e3"},"schema_version":"1.0","source":{"id":"1904.04600","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.04600","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"arxiv_version","alias_value":"1904.04600v1","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.04600","created_at":"2026-05-17T23:48:58Z"},{"alias_kind":"pith_short_12","alias_value":"HQTPJBWNI4YB","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQTPJBWNI4YBRSUI","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQTPJBWN","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:d0404e10caa8458db4787be6e29c6d6fd636b494c4fe96b5a16ac73098e28f6a","target":"graph","created_at":"2026-05-17T23:48:58Z","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":"Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a hierarchical trajectory optimization approach for planning dynamic movements with unscheduled contact sequences. We compute whole-body motions that achieve goals that cannot be reached in a kinematic fashion. First, we find a feasible CoM motion according to the centroidal dynamics of the robot. Then, we refine the solution by applying the robot's full-dynamics mo","authors_text":"Carlos Mastalli, Claudio Semini, Darwin G. Caldwell, Ioannis Havoutis, Michele Focchi","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-09T11:30:24Z","title":"Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.04600","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:e938f752698614dada1ae33d40000ea628f9aca4e94d08a54f23f5c9b7fd58a0","target":"record","created_at":"2026-05-17T23:48:58Z","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":"6ca8d4903462c28fc6f8e7909c0890953fa0f359989f0097d21e5185d2425c90","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-09T11:30:24Z","title_canon_sha256":"b0e878c09f9bb797c84d5906a89a9091a679668f0ac80e45acb312fe3081b6e3"},"schema_version":"1.0","source":{"id":"1904.04600","kind":"arxiv","version":1}},"canonical_sha256":"3c26f486cd473018ca881b2b23d28ab7ef9dfd0dc2c3cd4ae0b7ba48f75a2923","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3c26f486cd473018ca881b2b23d28ab7ef9dfd0dc2c3cd4ae0b7ba48f75a2923","first_computed_at":"2026-05-17T23:48:58.645843Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:48:58.645843Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EVIDuxkTZUspD7u3aRGjIE744h/8Gl0hZKipiqnYM2d6g4Dpf0TdpqnDct4kxtekCutaNWYyUBzYytQniEhdBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:48:58.646310Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.04600","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e938f752698614dada1ae33d40000ea628f9aca4e94d08a54f23f5c9b7fd58a0","sha256:d0404e10caa8458db4787be6e29c6d6fd636b494c4fe96b5a16ac73098e28f6a"],"state_sha256":"dc4c3fde0bb0773c23b4f4e5471d24594f031311ab739f3affc9d8906e672a54"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pa0+vTdi4Y9iDbidvva+nIOJcsN/fNtwXEHNl//ACc6Aq6Pqq2zdLLo7j+cmM6F5bMTebWW79FHo/o21lpqRBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T04:55:05.970337Z","bundle_sha256":"9b97c91b94e7bc6e831056d97d955e8cf1836b134a3f1b53fcdbe36d0b992372"}}