{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:KXFBMM6HY7AQ7ZX4KCP7YAZDNH","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":"c5165310f32c7c30fe065146a906aca46ebd7635e99a25f988f7b818dca65406","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T19:45:29Z","title_canon_sha256":"038c2e96ac89af034d31c509403fa3ec231eef7cdff79912f1acfc646b302636"},"schema_version":"1.0","source":{"id":"2506.02206","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.02206","created_at":"2026-07-05T11:14:34Z"},{"alias_kind":"arxiv_version","alias_value":"2506.02206v1","created_at":"2026-07-05T11:14:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.02206","created_at":"2026-07-05T11:14:34Z"},{"alias_kind":"pith_short_12","alias_value":"KXFBMM6HY7AQ","created_at":"2026-07-05T11:14:34Z"},{"alias_kind":"pith_short_16","alias_value":"KXFBMM6HY7AQ7ZX4","created_at":"2026-07-05T11:14:34Z"},{"alias_kind":"pith_short_8","alias_value":"KXFBMM6H","created_at":"2026-07-05T11:14:34Z"}],"graph_snapshots":[{"event_id":"sha256:3bf5170c7856d4096c0da9eb39a00257cde53e1fdfbedfe30164c905e68ffc74","target":"graph","created_at":"2026-07-05T11:14:34Z","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/2506.02206/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We propose a novel hierarchical framework that continuously generates dynamic subgoals to guide the robot through cluttered environments. Our method comprises a high-level reinforcement learning (RL) planner for subgoal selection in a robot-centric coordinate system and a low-level Model Predictive Control (MPC) based planner which produces robust walking gaits to","authors_text":"Ayonga Hereid, Chengyang Peng, Keith A. Redmill, Sankalp Agrawal, Shiting Gong, Zhihao Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T19:45:29Z","title":"Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.02206","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":"sha256:07861895f7d1ff3ec22483fe7328a369ddc756a3e14af92d841679b03fcf0dba","target":"record","created_at":"2026-07-05T11:14:34Z","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":"c5165310f32c7c30fe065146a906aca46ebd7635e99a25f988f7b818dca65406","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T19:45:29Z","title_canon_sha256":"038c2e96ac89af034d31c509403fa3ec231eef7cdff79912f1acfc646b302636"},"schema_version":"1.0","source":{"id":"2506.02206","kind":"arxiv","version":1}},"canonical_sha256":"55ca1633c7c7c10fe6fc509ffc032369f5218cc09d026d7646dc39879092d883","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"55ca1633c7c7c10fe6fc509ffc032369f5218cc09d026d7646dc39879092d883","first_computed_at":"2026-07-05T11:14:34.294444Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:14:34.294444Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xM4IfGUWmoH2U+2PYXR/G6O1CGacZsGcSNmCnlHrJ/9YppYVCA+CrXcgB2COSn/UrwVELlL9OcbEa5Bi+Zr+Dg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:14:34.294868Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.02206","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:07861895f7d1ff3ec22483fe7328a369ddc756a3e14af92d841679b03fcf0dba","sha256:3bf5170c7856d4096c0da9eb39a00257cde53e1fdfbedfe30164c905e68ffc74"],"state_sha256":"d55c6d58843a3a11acabbcf6d87bb40b7075c127d277127b06cc5e2bbb06a226"}