{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:NAXLW7BZ7YEOGMTNAILIQWG3YR","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":"bfaece2a93daa4a99bdc8850d88f1ee77dda544dd26bc217d3f701897a6fba8c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-17T08:32:22Z","title_canon_sha256":"5f38b9fef6d3d2915cab0badf020ae1828a4cc2d7109e6aa94dd562d2a157c2f"},"schema_version":"1.0","source":{"id":"2402.11221","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.11221","created_at":"2026-07-05T10:04:11Z"},{"alias_kind":"arxiv_version","alias_value":"2402.11221v2","created_at":"2026-07-05T10:04:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.11221","created_at":"2026-07-05T10:04:11Z"},{"alias_kind":"pith_short_12","alias_value":"NAXLW7BZ7YEO","created_at":"2026-07-05T10:04:11Z"},{"alias_kind":"pith_short_16","alias_value":"NAXLW7BZ7YEOGMTN","created_at":"2026-07-05T10:04:11Z"},{"alias_kind":"pith_short_8","alias_value":"NAXLW7BZ","created_at":"2026-07-05T10:04:11Z"}],"graph_snapshots":[{"event_id":"sha256:6e39d7ad41760e537968aaf17508d6828496ab90051df9621a4102254535d7cd","target":"graph","created_at":"2026-07-05T10:04:11Z","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/2402.11221/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which encompasses the modeling errors and the joint friction. Moreover, the estimation error is significant when MOB is applied to high-dimensional floating-base humanoids, which prevents the estimated external joint torque from being used for force control or collision detection in the real humanoid robot. In this paper, the pure external joint torque estimation method","authors_text":"Daegyu Lim, Jaeheung Park, Junhyeok Cha, Myeong-Ju Kim","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-17T08:32:22Z","title":"MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.11221","kind":"arxiv","version":2},"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":"sha256:4c83bfc62fe2d5edc51dbdd503efbfe043a84f5a60ca1f8520bf9c594c3eb713","target":"record","created_at":"2026-07-05T10:04:11Z","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":"bfaece2a93daa4a99bdc8850d88f1ee77dda544dd26bc217d3f701897a6fba8c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-17T08:32:22Z","title_canon_sha256":"5f38b9fef6d3d2915cab0badf020ae1828a4cc2d7109e6aa94dd562d2a157c2f"},"schema_version":"1.0","source":{"id":"2402.11221","kind":"arxiv","version":2}},"canonical_sha256":"682ebb7c39fe08e3326d02168858dbc463ee08031b854b37cdd981ab72c60538","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"682ebb7c39fe08e3326d02168858dbc463ee08031b854b37cdd981ab72c60538","first_computed_at":"2026-07-05T10:04:11.877491Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:04:11.877491Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ku+8Mz8KSJ3asX5FHFpP8Vx6xgn9TMs3Kd/y8DHmxDfuWEdON/LPZsawIJPsaDtvT02OHVQ7FWWIu6TrBZtWDw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:04:11.877937Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.11221","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4c83bfc62fe2d5edc51dbdd503efbfe043a84f5a60ca1f8520bf9c594c3eb713","sha256:6e39d7ad41760e537968aaf17508d6828496ab90051df9621a4102254535d7cd"],"state_sha256":"818d5373ebfc7af606f8f64d78a280a1b63429e03d180b494b00f314bf827eac"}