{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:NVSWXBKYE6JS5S62JV7O2HORKQ","short_pith_number":"pith:NVSWXBKY","canonical_record":{"source":{"id":"2210.15478","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-27T14:23:16Z","cross_cats_sorted":[],"title_canon_sha256":"d5c1c4d727ba99bd03ada37cf5b12109d1df039e72aa38b5d5671c5b01cf936a","abstract_canon_sha256":"60e15f5febc51415a9bd0af9ce5d340d6ef84b6532abaec57ed41296599562bb"},"schema_version":"1.0"},"canonical_sha256":"6d656b855827932ecbda4d7eed1dd1541539b37690fc471854f4ff48090da41b","source":{"kind":"arxiv","id":"2210.15478","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.15478","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"arxiv_version","alias_value":"2210.15478v1","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.15478","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_12","alias_value":"NVSWXBKYE6JS","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_16","alias_value":"NVSWXBKYE6JS5S62","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_8","alias_value":"NVSWXBKY","created_at":"2026-07-05T05:11:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:NVSWXBKYE6JS5S62JV7O2HORKQ","target":"record","payload":{"canonical_record":{"source":{"id":"2210.15478","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-27T14:23:16Z","cross_cats_sorted":[],"title_canon_sha256":"d5c1c4d727ba99bd03ada37cf5b12109d1df039e72aa38b5d5671c5b01cf936a","abstract_canon_sha256":"60e15f5febc51415a9bd0af9ce5d340d6ef84b6532abaec57ed41296599562bb"},"schema_version":"1.0"},"canonical_sha256":"6d656b855827932ecbda4d7eed1dd1541539b37690fc471854f4ff48090da41b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:11:06.799698Z","signature_b64":"FcUv0ThLeHY2GBKwvPVletEf455GPkYQJmi99jkBn+3oVqgY6yZuyepm+FEh8mJTO2xn9jrrZAwmGc+7BbAXBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6d656b855827932ecbda4d7eed1dd1541539b37690fc471854f4ff48090da41b","last_reissued_at":"2026-07-05T05:11:06.799244Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:11:06.799244Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.15478","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":"2026-07-05T05:11:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cqidF5FhIhzRRx4cLMdYFSZUX6XtD+qN6tJAC40dAvCP9BA4rZP0OjS02rDxxbAAdL4MoM6y4QKEYwFgjw+FDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T12:57:03.808051Z"},"content_sha256":"3730e2b95c70898ece853419bcf9f0f76a8e74d92ee7074dfc8e4feb7b3c7da0","schema_version":"1.0","event_id":"sha256:3730e2b95c70898ece853419bcf9f0f76a8e74d92ee7074dfc8e4feb7b3c7da0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:NVSWXBKYE6JS5S62JV7O2HORKQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Human-Likeness Indicator for Robot Posture Control and Balance","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christoph Maurer, Thomas Mergner, Vittorio Lippi","submitted_at":"2022-10-27T14:23:16Z","abstract_excerpt":"Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific performance indicator is proposed: the score is based on the comparison between the body sway of the tested humanoid standing on a moving surface and the sway produced by healthy subjects performing the same experiment. This approach is here oriented to the evaluation of a human-likeness. The measure is tested using a humanoid robot in order to demonstrate a ty"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.15478","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/2210.15478/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":"2026-07-05T05:11:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z/Tq8FTANkoTpRm0xkIfcYa5JMewOP59rQahfPNH4FYjRnzqj8dzptBYOcJZF58aHjiRNMQI5/rwEEvzH3f3BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T12:57:03.808397Z"},"content_sha256":"85b6f04b9dfdf531ece35908c506f6189531ad741acf2054acd182beb4869419","schema_version":"1.0","event_id":"sha256:85b6f04b9dfdf531ece35908c506f6189531ad741acf2054acd182beb4869419"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/bundle.json","state_url":"https://pith.science/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/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":"2026-08-23T12:57:03Z","links":{"resolver":"https://pith.science/pith/NVSWXBKYE6JS5S62JV7O2HORKQ","bundle":"https://pith.science/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/bundle.json","state":"https://pith.science/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NVSWXBKYE6JS5S62JV7O2HORKQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:NVSWXBKYE6JS5S62JV7O2HORKQ","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":"60e15f5febc51415a9bd0af9ce5d340d6ef84b6532abaec57ed41296599562bb","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-27T14:23:16Z","title_canon_sha256":"d5c1c4d727ba99bd03ada37cf5b12109d1df039e72aa38b5d5671c5b01cf936a"},"schema_version":"1.0","source":{"id":"2210.15478","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.15478","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"arxiv_version","alias_value":"2210.15478v1","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.15478","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_12","alias_value":"NVSWXBKYE6JS","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_16","alias_value":"NVSWXBKYE6JS5S62","created_at":"2026-07-05T05:11:06Z"},{"alias_kind":"pith_short_8","alias_value":"NVSWXBKY","created_at":"2026-07-05T05:11:06Z"}],"graph_snapshots":[{"event_id":"sha256:85b6f04b9dfdf531ece35908c506f6189531ad741acf2054acd182beb4869419","target":"graph","created_at":"2026-07-05T05:11:06Z","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/2210.15478/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific performance indicator is proposed: the score is based on the comparison between the body sway of the tested humanoid standing on a moving surface and the sway produced by healthy subjects performing the same experiment. This approach is here oriented to the evaluation of a human-likeness. The measure is tested using a humanoid robot in order to demonstrate a ty","authors_text":"Christoph Maurer, Thomas Mergner, Vittorio Lippi","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-27T14:23:16Z","title":"Human-Likeness Indicator for Robot Posture Control and Balance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.15478","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":"sha256:3730e2b95c70898ece853419bcf9f0f76a8e74d92ee7074dfc8e4feb7b3c7da0","target":"record","created_at":"2026-07-05T05:11:06Z","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":"60e15f5febc51415a9bd0af9ce5d340d6ef84b6532abaec57ed41296599562bb","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-27T14:23:16Z","title_canon_sha256":"d5c1c4d727ba99bd03ada37cf5b12109d1df039e72aa38b5d5671c5b01cf936a"},"schema_version":"1.0","source":{"id":"2210.15478","kind":"arxiv","version":1}},"canonical_sha256":"6d656b855827932ecbda4d7eed1dd1541539b37690fc471854f4ff48090da41b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6d656b855827932ecbda4d7eed1dd1541539b37690fc471854f4ff48090da41b","first_computed_at":"2026-07-05T05:11:06.799244Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:11:06.799244Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FcUv0ThLeHY2GBKwvPVletEf455GPkYQJmi99jkBn+3oVqgY6yZuyepm+FEh8mJTO2xn9jrrZAwmGc+7BbAXBw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:11:06.799698Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.15478","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3730e2b95c70898ece853419bcf9f0f76a8e74d92ee7074dfc8e4feb7b3c7da0","sha256:85b6f04b9dfdf531ece35908c506f6189531ad741acf2054acd182beb4869419"],"state_sha256":"3044bc940bdef0e541c171176be6ddc8ee6fdcc9a7cfb14afa14609ba6f0ec2e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C/hw/vYnnCfpn37LBWSZU+mGPEYuJ+KZl/PhrjFOr8yZv1z/PpCI3iBBaQS8J82ps7GesYlhihzY5KxAERHwBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T12:57:03.812118Z","bundle_sha256":"4e64fe6d432f44d64515003bc2888d743450266e3071443991497d51704d04d5"}}