{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:K3UANPTECBTEVRQ6GSG54XZLLK","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":"5daaa33ea06042a6c4605c19d3bd80008ff46d4fc601cf7563d3e171d9a2d9a5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T08:58:06Z","title_canon_sha256":"687b294ca65c2bc23b9f0ed77da5feb5d9750ea96ad03e4b255c504f2d07e9b9"},"schema_version":"1.0","source":{"id":"2412.13621","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.13621","created_at":"2026-07-05T09:51:05Z"},{"alias_kind":"arxiv_version","alias_value":"2412.13621v1","created_at":"2026-07-05T09:51:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.13621","created_at":"2026-07-05T09:51:05Z"},{"alias_kind":"pith_short_12","alias_value":"K3UANPTECBTE","created_at":"2026-07-05T09:51:05Z"},{"alias_kind":"pith_short_16","alias_value":"K3UANPTECBTEVRQ6","created_at":"2026-07-05T09:51:05Z"},{"alias_kind":"pith_short_8","alias_value":"K3UANPTE","created_at":"2026-07-05T09:51:05Z"}],"graph_snapshots":[{"event_id":"sha256:f47f2dad90e6f1762ff2bc6625345cc085b9c1713f1ca0bc58d933dc82af24ee","target":"graph","created_at":"2026-07-05T09:51:05Z","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/2412.13621/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots, inspired from patrol dogs, can be a substitution of traditional solutions but always suffer from navigation and locomotion difficulties. In this paper, we introduce a Reinforcement Learning (RL) based method to train a policy enabling the quadrupedal robots to cross narrow pipes adaptively. A new privileged visual information and a new reward function are defined ","authors_text":"Jing Guo, Weibang Bai, Ziwei Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T08:58:06Z","title":"Learning Quadrupedal Robot Locomotion for Narrow Pipe Inspection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.13621","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":"sha256:0ee52a467831e2832c5e6cd73dd9aadee9a2894638e3b2898cbff99965037e2d","target":"record","created_at":"2026-07-05T09:51:05Z","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":"5daaa33ea06042a6c4605c19d3bd80008ff46d4fc601cf7563d3e171d9a2d9a5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T08:58:06Z","title_canon_sha256":"687b294ca65c2bc23b9f0ed77da5feb5d9750ea96ad03e4b255c504f2d07e9b9"},"schema_version":"1.0","source":{"id":"2412.13621","kind":"arxiv","version":1}},"canonical_sha256":"56e806be6410664ac61e348dde5f2b5abe797a420a681bf7b129988b43c4a5a0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"56e806be6410664ac61e348dde5f2b5abe797a420a681bf7b129988b43c4a5a0","first_computed_at":"2026-07-05T09:51:05.297055Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:51:05.297055Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iOaPin8LzHVQYYTKeKJVK7j2ylnNtzFPCoeJ36c6jnkf+HTV9UMxss+Ma6eqWWyUOvvlcHwuUmMzNcHsoH7pAw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:51:05.297544Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.13621","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0ee52a467831e2832c5e6cd73dd9aadee9a2894638e3b2898cbff99965037e2d","sha256:f47f2dad90e6f1762ff2bc6625345cc085b9c1713f1ca0bc58d933dc82af24ee"],"state_sha256":"495c0a7abd35c47fc8a7650f4d2777632ef94a919603d1ab19ca5fa1e7d9379c"}