{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:L2L2CI62SAGUOZ4SIOP7XYKLV3","short_pith_number":"pith:L2L2CI62","canonical_record":{"source":{"id":"2310.15583","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-24T07:48:40Z","cross_cats_sorted":[],"title_canon_sha256":"a7a5101415e41d8e66f5059ec58b73ee92efa420c04bd4e9fb531d63d19189ff","abstract_canon_sha256":"533d81c8f4a888c36f013a2dc946f8c7b6c7f058d0a83ce3194941debde7571f"},"schema_version":"1.0"},"canonical_sha256":"5e97a123da900d476792439ffbe14baed276ad514e0c0c555b6aad2dde8cac8a","source":{"kind":"arxiv","id":"2310.15583","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.15583","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"arxiv_version","alias_value":"2310.15583v1","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.15583","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_12","alias_value":"L2L2CI62SAGU","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_16","alias_value":"L2L2CI62SAGUOZ4S","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_8","alias_value":"L2L2CI62","created_at":"2026-07-05T07:04:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:L2L2CI62SAGUOZ4SIOP7XYKLV3","target":"record","payload":{"canonical_record":{"source":{"id":"2310.15583","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-24T07:48:40Z","cross_cats_sorted":[],"title_canon_sha256":"a7a5101415e41d8e66f5059ec58b73ee92efa420c04bd4e9fb531d63d19189ff","abstract_canon_sha256":"533d81c8f4a888c36f013a2dc946f8c7b6c7f058d0a83ce3194941debde7571f"},"schema_version":"1.0"},"canonical_sha256":"5e97a123da900d476792439ffbe14baed276ad514e0c0c555b6aad2dde8cac8a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:04:28.181930Z","signature_b64":"keZosV28PNEF1VhRPXG16Y5ke8dr+Xeny8PxgdZtX97mgtLr8Q0IE9oN/fHdvojjLxnvt6/dkHPcbzQ2V3DECA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5e97a123da900d476792439ffbe14baed276ad514e0c0c555b6aad2dde8cac8a","last_reissued_at":"2026-07-05T07:04:28.181455Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:04:28.181455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.15583","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":"2026-07-05T07:04:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oGeTfJ4TK8cUH3Y2yGvO7b1Irb4PHSw8RzWj6a/kiS2DEUZxgHT7DYq9lCYbnvOOIEH2rocR4uQtqxxQCbXGCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:59:10.585970Z"},"content_sha256":"b4f841cce40f8f3e31e562edd0b2272bdf0428b28cc31d3be25f2dd9856dbefa","schema_version":"1.0","event_id":"sha256:b4f841cce40f8f3e31e562edd0b2272bdf0428b28cc31d3be25f2dd9856dbefa"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:L2L2CI62SAGUOZ4SIOP7XYKLV3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gang Wang, Jiawei Li, Liquan Wang, Panju Bai, Shihao Hu, Sicen Li, Yiming Pang, Zhaojin Liu","submitted_at":"2023-10-24T07:48:40Z","abstract_excerpt":"Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and adaptation for the legged robot. The two key components are (I) a novel automatic curriculum strategy on task difficulty and (ii) a Hindsight Experience Replay strategy adapted to legged locomotion tasks. We demonstrated successful agile and adaptive locomotion on a real quadruped robot that performed fall recovery auto"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.15583","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.15583/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T07:04:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dOQL8zZd+HmHn6n1+H2IG9lWBpRQjslVyIcQ6/RnJAz6WZuHQRjWAnoNOIVvjHLMPGxUhk5OvRrfzwG/isa+Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:59:10.586715Z"},"content_sha256":"814de9333d721bb42f58fde31d26c31040fc04bf0d4ee6cb277d0b956ef4e7c1","schema_version":"1.0","event_id":"sha256:814de9333d721bb42f58fde31d26c31040fc04bf0d4ee6cb277d0b956ef4e7c1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/bundle.json","state_url":"https://pith.science/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/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":"2026-08-01T05:59:10Z","links":{"resolver":"https://pith.science/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3","bundle":"https://pith.science/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/bundle.json","state":"https://pith.science/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/L2L2CI62SAGUOZ4SIOP7XYKLV3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:L2L2CI62SAGUOZ4SIOP7XYKLV3","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":"533d81c8f4a888c36f013a2dc946f8c7b6c7f058d0a83ce3194941debde7571f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-24T07:48:40Z","title_canon_sha256":"a7a5101415e41d8e66f5059ec58b73ee92efa420c04bd4e9fb531d63d19189ff"},"schema_version":"1.0","source":{"id":"2310.15583","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.15583","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"arxiv_version","alias_value":"2310.15583v1","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.15583","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_12","alias_value":"L2L2CI62SAGU","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_16","alias_value":"L2L2CI62SAGUOZ4S","created_at":"2026-07-05T07:04:28Z"},{"alias_kind":"pith_short_8","alias_value":"L2L2CI62","created_at":"2026-07-05T07:04:28Z"}],"graph_snapshots":[{"event_id":"sha256:814de9333d721bb42f58fde31d26c31040fc04bf0d4ee6cb277d0b956ef4e7c1","target":"graph","created_at":"2026-07-05T07:04:28Z","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/2310.15583/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and adaptation for the legged robot. The two key components are (I) a novel automatic curriculum strategy on task difficulty and (ii) a Hindsight Experience Replay strategy adapted to legged locomotion tasks. We demonstrated successful agile and adaptive locomotion on a real quadruped robot that performed fall recovery auto","authors_text":"Gang Wang, Jiawei Li, Liquan Wang, Panju Bai, Shihao Hu, Sicen Li, Yiming Pang, Zhaojin Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-24T07:48:40Z","title":"Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.15583","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:b4f841cce40f8f3e31e562edd0b2272bdf0428b28cc31d3be25f2dd9856dbefa","target":"record","created_at":"2026-07-05T07:04:28Z","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":"533d81c8f4a888c36f013a2dc946f8c7b6c7f058d0a83ce3194941debde7571f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-24T07:48:40Z","title_canon_sha256":"a7a5101415e41d8e66f5059ec58b73ee92efa420c04bd4e9fb531d63d19189ff"},"schema_version":"1.0","source":{"id":"2310.15583","kind":"arxiv","version":1}},"canonical_sha256":"5e97a123da900d476792439ffbe14baed276ad514e0c0c555b6aad2dde8cac8a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5e97a123da900d476792439ffbe14baed276ad514e0c0c555b6aad2dde8cac8a","first_computed_at":"2026-07-05T07:04:28.181455Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:04:28.181455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"keZosV28PNEF1VhRPXG16Y5ke8dr+Xeny8PxgdZtX97mgtLr8Q0IE9oN/fHdvojjLxnvt6/dkHPcbzQ2V3DECA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:04:28.181930Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.15583","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b4f841cce40f8f3e31e562edd0b2272bdf0428b28cc31d3be25f2dd9856dbefa","sha256:814de9333d721bb42f58fde31d26c31040fc04bf0d4ee6cb277d0b956ef4e7c1"],"state_sha256":"aa2131f0d20fedde22d6f807cabea38bf2ad27d01387843bc43b4997891908f3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MREod9P7+XDw+4ZRmtLO8cOeOI0rbr7Aoa5jDT/GabVdL0A4c8+Z4Vr2pKrXfCYm10/E7sSv7yD+JqHbDdn4Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T05:59:10.594894Z","bundle_sha256":"f26952feaf233cc022e945015c29a0a2404350c305f35d1a0e1a7af283ce9b23"}}