{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:HZF7HXIIUFA7C56UB7VR6QS6YH","short_pith_number":"pith:HZF7HXII","schema_version":"1.0","canonical_sha256":"3e4bf3dd08a141f177d40feb1f425ec1f5fec4201a4c950eee6fc0147afbe7ea","source":{"kind":"arxiv","id":"1905.06077","version":2},"attestation_state":"computed","paper":{"title":"Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Abhik Singla, Abhimanyu, Ashitava Ghosal, Bharadwaj Amrutur, Dhaivat Dholakiya, Shalabh Bhatnagar, Shishir Kolathaya, Shounak Bhattacharya","submitted_at":"2019-05-15T10:40:15Z","abstract_excerpt":"In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with active spine is an extremely hard problem, and involves a complex coordination between the various degrees of freedom. Therefore, past attempts at addressing this problem have not seen much success. Deep-Reinforcement Learning seems to be a promising approach, after its recent success in a variety of robot platforms, and the goal of this paper is to use this appr"},"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":"1905.06077","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-15T10:40:15Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"96127a5895f06a402c6b3bf9a6935304144655c891901481426fb78e6fa4da1f","abstract_canon_sha256":"dbc4b6f2088acbc7ab8a663fd84a967ae1e2f0df64b966c92ba75fed33fc54da"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:46:02.791282Z","signature_b64":"3ZEHSQYW5N2mYTz0nROuFOGl+0/N6refzQRjY3SJ/fRkagaH6OhSqRj4GAgh+Egz0NoeNyEZEuznfbMYTmj9AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3e4bf3dd08a141f177d40feb1f425ec1f5fec4201a4c950eee6fc0147afbe7ea","last_reissued_at":"2026-05-17T23:46:02.790546Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:46:02.790546Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Abhik Singla, Abhimanyu, Ashitava Ghosal, Bharadwaj Amrutur, Dhaivat Dholakiya, Shalabh Bhatnagar, Shishir Kolathaya, Shounak Bhattacharya","submitted_at":"2019-05-15T10:40:15Z","abstract_excerpt":"In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with active spine is an extremely hard problem, and involves a complex coordination between the various degrees of freedom. Therefore, past attempts at addressing this problem have not seen much success. Deep-Reinforcement Learning seems to be a promising approach, after its recent success in a variety of robot platforms, and the goal of this paper is to use this appr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.06077","kind":"arxiv","version":2},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1905.06077","created_at":"2026-05-17T23:46:02.790830+00:00"},{"alias_kind":"arxiv_version","alias_value":"1905.06077v2","created_at":"2026-05-17T23:46:02.790830+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.06077","created_at":"2026-05-17T23:46:02.790830+00:00"},{"alias_kind":"pith_short_12","alias_value":"HZF7HXIIUFA7","created_at":"2026-05-18T12:33:18.533446+00:00"},{"alias_kind":"pith_short_16","alias_value":"HZF7HXIIUFA7C56U","created_at":"2026-05-18T12:33:18.533446+00:00"},{"alias_kind":"pith_short_8","alias_value":"HZF7HXII","created_at":"2026-05-18T12:33:18.533446+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/HZF7HXIIUFA7C56UB7VR6QS6YH","json":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH.json","graph_json":"https://pith.science/api/pith-number/HZF7HXIIUFA7C56UB7VR6QS6YH/graph.json","events_json":"https://pith.science/api/pith-number/HZF7HXIIUFA7C56UB7VR6QS6YH/events.json","paper":"https://pith.science/paper/HZF7HXII"},"agent_actions":{"view_html":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH","download_json":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH.json","view_paper":"https://pith.science/paper/HZF7HXII","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1905.06077&json=true","fetch_graph":"https://pith.science/api/pith-number/HZF7HXIIUFA7C56UB7VR6QS6YH/graph.json","fetch_events":"https://pith.science/api/pith-number/HZF7HXIIUFA7C56UB7VR6QS6YH/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH/action/timestamp_anchor","attest_storage":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH/action/storage_attestation","attest_author":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH/action/author_attestation","sign_citation":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH/action/citation_signature","submit_replication":"https://pith.science/pith/HZF7HXIIUFA7C56UB7VR6QS6YH/action/replication_record"}},"created_at":"2026-05-17T23:46:02.790830+00:00","updated_at":"2026-05-17T23:46:02.790830+00:00"}