{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:N25WYV3RIHO4I2VYEKXLVXKJCL","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":"5d838f72ceea2528c14ec29a4a575e9376b189b32ce3242f411b95972eb5ec53","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2018-01-24T17:37:35Z","title_canon_sha256":"929b1e1c5df7b54f60c381c49cca9b05953e4a1a4f0365de3fdec59f921318e6"},"schema_version":"1.0","source":{"id":"1801.08093","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.08093","created_at":"2026-05-18T00:16:07Z"},{"alias_kind":"arxiv_version","alias_value":"1801.08093v3","created_at":"2026-05-18T00:16:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.08093","created_at":"2026-05-18T00:16:07Z"},{"alias_kind":"pith_short_12","alias_value":"N25WYV3RIHO4","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"N25WYV3RIHO4I2VY","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"N25WYV3R","created_at":"2026-05-18T12:32:40Z"}],"graph_snapshots":[{"event_id":"sha256:3bcb7642b62f6eb4c6c8f6a1eb4d6547d5a33a3918e04d373cec54df32f03327","target":"graph","created_at":"2026-05-18T00:16:07Z","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"},"paper":{"abstract_excerpt":"Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep reinforcement learning (DRL) is a promising approach for the automatic creation of locomotion control. Indeed, a standard benchmark for DRL is to automatically create a running controller for a biped character from a simple reward function. Although several different DRL algorithms can successfully create a running controller, the resulting motions usually loo","authors_text":"C.Karen Liu, Greg Turk, Wenhao Yu","cross_cats":["cs.GR","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2018-01-24T17:37:35Z","title":"Learning Symmetric and Low-energy Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.08093","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":"sha256:74cee2b33f3acf4a2c665c47d06fb8d1a207f4df40c4dad619c63db7af813243","target":"record","created_at":"2026-05-18T00:16:07Z","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":"5d838f72ceea2528c14ec29a4a575e9376b189b32ce3242f411b95972eb5ec53","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2018-01-24T17:37:35Z","title_canon_sha256":"929b1e1c5df7b54f60c381c49cca9b05953e4a1a4f0365de3fdec59f921318e6"},"schema_version":"1.0","source":{"id":"1801.08093","kind":"arxiv","version":3}},"canonical_sha256":"6ebb6c577141ddc46ab822aebadd4912ddcbed5916a56248774735b28dd3d25a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6ebb6c577141ddc46ab822aebadd4912ddcbed5916a56248774735b28dd3d25a","first_computed_at":"2026-05-18T00:16:07.982863Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:16:07.982863Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9f2yvYl6q4gk9zpD9tFLexHxMqEiKWlHSaeB0TuBInJvb4qJBs+xrNU/T7D4WGyQDWR6I6XSYRsz8JxCfzzzDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:16:07.983414Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.08093","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:74cee2b33f3acf4a2c665c47d06fb8d1a207f4df40c4dad619c63db7af813243","sha256:3bcb7642b62f6eb4c6c8f6a1eb4d6547d5a33a3918e04d373cec54df32f03327"],"state_sha256":"9f3fc641baee603624c179204ea51323ff53c6f76d19e92374d2f92da6777c28"}