{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:PT3OQJAMVWNMTPSH5AFVRWS2DP","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":"493d9347a46797305b772897c39089983c076de42ae507d3e43b79c106068156","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-03T07:18:01Z","title_canon_sha256":"c5cf567efbca5906e5a249ac0564bcfb58d798b86aec36ffbc12566a16db984e"},"schema_version":"1.0","source":{"id":"2602.03205","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.03205","created_at":"2026-05-22T01:03:56Z"},{"alias_kind":"arxiv_version","alias_value":"2602.03205v2","created_at":"2026-05-22T01:03:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.03205","created_at":"2026-05-22T01:03:56Z"},{"alias_kind":"pith_short_12","alias_value":"PT3OQJAMVWNM","created_at":"2026-05-22T01:03:56Z"},{"alias_kind":"pith_short_16","alias_value":"PT3OQJAMVWNMTPSH","created_at":"2026-05-22T01:03:56Z"},{"alias_kind":"pith_short_8","alias_value":"PT3OQJAM","created_at":"2026-05-22T01:03:56Z"}],"graph_snapshots":[{"event_id":"sha256:279fccbe9afccf9d602cd288c1920381898e39723266348cb6023a11ac914ac0","target":"graph","created_at":"2026-05-22T01:03:56Z","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/2602.03205/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we address humanoid skateboarding, a highly challenging task requiring stable dynamic maneuvering on an underactuated wheeled platform. This integrated system is governed by non-holonomic constraints and tightly coupled human-object interactions. Successfully executing this task requires simultaneous mastery of hybrid contact dynamics and robust balance control on a","authors_text":"Chenjia Bai, Chenyun Zhang, Dewei Wang, Jinrui Han, Ping Luo, Xinzhe Liu, Xuelong Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-03T07:18:01Z","title":"HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.03205","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:a5560ca771d66ca08d8b968147870c6a88f2cea4056bc461aaf6a553d220c834","target":"record","created_at":"2026-05-22T01:03:56Z","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":"493d9347a46797305b772897c39089983c076de42ae507d3e43b79c106068156","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-03T07:18:01Z","title_canon_sha256":"c5cf567efbca5906e5a249ac0564bcfb58d798b86aec36ffbc12566a16db984e"},"schema_version":"1.0","source":{"id":"2602.03205","kind":"arxiv","version":2}},"canonical_sha256":"7cf6e8240cad9ac9be47e80b58da5a1bd8d35f618b94ec1009237df9a90a9b36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7cf6e8240cad9ac9be47e80b58da5a1bd8d35f618b94ec1009237df9a90a9b36","first_computed_at":"2026-05-22T01:03:56.367038Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-22T01:03:56.367038Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"muVKC0H4wn4aPOT7hbd+JksfujWUMg4J6T+OewYmR+RyT8zExH74xstooFjINtenoWMrSMp6PzIJJ4tQ0wZADg==","signature_status":"signed_v1","signed_at":"2026-05-22T01:03:56.368007Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.03205","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a5560ca771d66ca08d8b968147870c6a88f2cea4056bc461aaf6a553d220c834","sha256:279fccbe9afccf9d602cd288c1920381898e39723266348cb6023a11ac914ac0"],"state_sha256":"45a241af7ad6582d19948c79926f4c45139f24cae74b94c70f89eabf4134fc1f"}