{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LTQQUM6Z6FQZN7Z3FHBXLYFTCT","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":"1d0bc9cfd2dd6284e668fe5d01401d7d0387249bae1ed8d58fe9c0c4ac62879f","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-31T03:58:28Z","title_canon_sha256":"45200d8bcfb024929e869df490cc725c5aaf16362f17a58b3c3f4fb60cf82e5d"},"schema_version":"1.0","source":{"id":"2401.17583","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.17583","created_at":"2026-07-05T08:21:12Z"},{"alias_kind":"arxiv_version","alias_value":"2401.17583v3","created_at":"2026-07-05T08:21:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.17583","created_at":"2026-07-05T08:21:12Z"},{"alias_kind":"pith_short_12","alias_value":"LTQQUM6Z6FQZ","created_at":"2026-07-05T08:21:12Z"},{"alias_kind":"pith_short_16","alias_value":"LTQQUM6Z6FQZN7Z3","created_at":"2026-07-05T08:21:12Z"},{"alias_kind":"pith_short_8","alias_value":"LTQQUM6Z","created_at":"2026-07-05T08:21:12Z"}],"graph_snapshots":[{"event_id":"sha256:e434e6b945cafd01a4bd58ae11e6f139963e58e35e336bdb8dad23932d37c7b2","target":"graph","created_at":"2026-07-05T08:21:12Z","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/2401.17583/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety, or focus on agility without considering potentially fatal collisions. This paper introduces Agile But Safe (ABS), a learning-based control framework that enables agile and collision-free locomotion for quadrupedal robots. ABS involves an agile policy to execute agile motor skills amidst obstacles and a recovery policy to prevent failures, collaboratively ac","authors_text":"Changliu Liu, Chong Zhang, Guanqi He, Guanya Shi, Tairan He, Wenli Xiao","cross_cats":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-31T03:58:28Z","title":"Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.17583","kind":"arxiv","version":3},"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":"sha256:2e4a9eff6179f63504d82f9b4c63462656fd3d71d2ca040f2cfcd439c46ec4f7","target":"record","created_at":"2026-07-05T08:21:12Z","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":"1d0bc9cfd2dd6284e668fe5d01401d7d0387249bae1ed8d58fe9c0c4ac62879f","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-31T03:58:28Z","title_canon_sha256":"45200d8bcfb024929e869df490cc725c5aaf16362f17a58b3c3f4fb60cf82e5d"},"schema_version":"1.0","source":{"id":"2401.17583","kind":"arxiv","version":3}},"canonical_sha256":"5ce10a33d9f16196ff3b29c375e0b314de90d1e1ee44ea225fc84f90946bdfe2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5ce10a33d9f16196ff3b29c375e0b314de90d1e1ee44ea225fc84f90946bdfe2","first_computed_at":"2026-07-05T08:21:12.218144Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:21:12.218144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iFcCf+plMskgAB4RSrzJ2H0UTU2wx+5gXa9iGh71srrb7mzXjU69UfEQAcMRfuvrZCHGrL8xEaeYmyzg3MncAw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:21:12.218623Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.17583","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2e4a9eff6179f63504d82f9b4c63462656fd3d71d2ca040f2cfcd439c46ec4f7","sha256:e434e6b945cafd01a4bd58ae11e6f139963e58e35e336bdb8dad23932d37c7b2"],"state_sha256":"270232ba2620307cb293dc391e086d3b4a1bfb4856a580f4c97e03bc8eb58eb9"}