{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:OW3YGJAYZH6KD2RGQQ65Y2VR2Z","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":"a8f5a4b84da21774f1613b080c8b658787e13342175619cada3cecbdcfaa6369","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T13:53:38Z","title_canon_sha256":"1f67f08c0ef4ba2be734b88d82e655d1e57688121e01be88e25ed9853dc83919"},"schema_version":"1.0","source":{"id":"2508.12928","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.12928","created_at":"2026-07-05T11:55:29Z"},{"alias_kind":"arxiv_version","alias_value":"2508.12928v1","created_at":"2026-07-05T11:55:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.12928","created_at":"2026-07-05T11:55:29Z"},{"alias_kind":"pith_short_12","alias_value":"OW3YGJAYZH6K","created_at":"2026-07-05T11:55:29Z"},{"alias_kind":"pith_short_16","alias_value":"OW3YGJAYZH6KD2RG","created_at":"2026-07-05T11:55:29Z"},{"alias_kind":"pith_short_8","alias_value":"OW3YGJAY","created_at":"2026-07-05T11:55:29Z"}],"graph_snapshots":[{"event_id":"sha256:c17d0bc8560c1ece0fa1d9b0515a76c8e50d6cb301d2d403cb7b23661537b781","target":"graph","created_at":"2026-07-05T11:55:29Z","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/2508.12928/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization problem with a mixture of continuous and discrete decision variables. In this paper, we present a full pipeline based on Monte-Carlo tree search (MCTS) and whole-body trajectory optimization (TO) to perform simultaneous contact sequence and patch selection on highly challenging environments. Through extensive simulation experiments, we show that our framework can quickly find a diverse set of dynamically consistent ","authors_text":"Haizhou Zhao, Majid Khadiv, Victor Dh\\'edin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T13:53:38Z","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.12928","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":"sha256:1e0673c6342f13c50b6d46d12307d5d27cc9c1386bd8d0b0ea476b611140d266","target":"record","created_at":"2026-07-05T11:55:29Z","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":"a8f5a4b84da21774f1613b080c8b658787e13342175619cada3cecbdcfaa6369","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T13:53:38Z","title_canon_sha256":"1f67f08c0ef4ba2be734b88d82e655d1e57688121e01be88e25ed9853dc83919"},"schema_version":"1.0","source":{"id":"2508.12928","kind":"arxiv","version":1}},"canonical_sha256":"75b7832418c9fca1ea26843ddc6ab1d66b1f9fe055bddd46a3afaff88e515096","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"75b7832418c9fca1ea26843ddc6ab1d66b1f9fe055bddd46a3afaff88e515096","first_computed_at":"2026-07-05T11:55:29.360455Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:55:29.360455Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+7FEKmP7ylUxIy2Y3mhGCEg02K7+2EsRw9nRQV2vI+xU4SkDoqaT+ZWwVIR5ckRiu5rs8mNGvKE9uW85p3prDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:55:29.360956Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.12928","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1e0673c6342f13c50b6d46d12307d5d27cc9c1386bd8d0b0ea476b611140d266","sha256:c17d0bc8560c1ece0fa1d9b0515a76c8e50d6cb301d2d403cb7b23661537b781"],"state_sha256":"7478a7d0f90997a8749f3c213215b5214ebc671db639edca7e96385e468e0be4"}