{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:J6YB3QCOEVFYDU63ZEFT7OAHKU","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":"66209bcdcca1e84167a4bf0315fae500dc05d5a263d53cee88d5009489861d83","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-17T06:42:50Z","title_canon_sha256":"ebbfa00e9e9ec97e912e88339038eb08f1ab70b681bc631eadac329760212244"},"schema_version":"1.0","source":{"id":"2409.10923","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10923","created_at":"2026-07-05T09:10:04Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10923v2","created_at":"2026-07-05T09:10:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10923","created_at":"2026-07-05T09:10:04Z"},{"alias_kind":"pith_short_12","alias_value":"J6YB3QCOEVFY","created_at":"2026-07-05T09:10:04Z"},{"alias_kind":"pith_short_16","alias_value":"J6YB3QCOEVFYDU63","created_at":"2026-07-05T09:10:04Z"},{"alias_kind":"pith_short_8","alias_value":"J6YB3QCO","created_at":"2026-07-05T09:10:04Z"}],"graph_snapshots":[{"event_id":"sha256:e65ace6c1bf8974acdbcfd892752c7f82372d7ea00361067afa52b49b00f0efd","target":"graph","created_at":"2026-07-05T09:10:04Z","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/2409.10923/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-","authors_text":"Byron Boots, Changyi Lin, Ding Zhao, Guanya Shi, Jie Tan, Mateo Guaman Castro, Rosario Scalise, Tingnan Zhang, Wenhao Yu, XiangYun Meng, Yuxiang Yang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-17T06:42:50Z","title":"Agile Continuous Jumping in Discontinuous Terrains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10923","kind":"arxiv","version":2},"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":"sha256:0f523858d14aa3758d8e384f48ada04f2c3aff22164a04e22fe93ffdf3c5bbe8","target":"record","created_at":"2026-07-05T09:10:04Z","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":"66209bcdcca1e84167a4bf0315fae500dc05d5a263d53cee88d5009489861d83","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-17T06:42:50Z","title_canon_sha256":"ebbfa00e9e9ec97e912e88339038eb08f1ab70b681bc631eadac329760212244"},"schema_version":"1.0","source":{"id":"2409.10923","kind":"arxiv","version":2}},"canonical_sha256":"4fb01dc04e254b81d3dbc90b3fb807553096c54267ef81e3c8e6d0bfeac9b181","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4fb01dc04e254b81d3dbc90b3fb807553096c54267ef81e3c8e6d0bfeac9b181","first_computed_at":"2026-07-05T09:10:04.711453Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:10:04.711453Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5n/nUKf+VJJ8REsLx9zGSEjaJuzoB44+vSLRhfy158xRHbOTfpmCtCr7d4itTCKD1+C3Y8x1gROu88V3S2NlBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:10:04.711979Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.10923","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0f523858d14aa3758d8e384f48ada04f2c3aff22164a04e22fe93ffdf3c5bbe8","sha256:e65ace6c1bf8974acdbcfd892752c7f82372d7ea00361067afa52b49b00f0efd"],"state_sha256":"1c69db1b71642fad8f042c2b69b336ca242d187c577f690683f6016c9103af26"}