{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:QYXHFDYEND5ISZBWQZBOXE2FCX","short_pith_number":"pith:QYXHFDYE","schema_version":"1.0","canonical_sha256":"862e728f0468fa8964368642eb934515df6604c49ab3c3f4d220e7e6db14ac89","source":{"kind":"arxiv","id":"2507.07825","version":1},"attestation_state":"computed","paper":{"title":"Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hua Chen, Leixin Chang, Liangjing Yang, Yuxuan Nai","submitted_at":"2025-07-10T14:54:52Z","abstract_excerpt":"Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the load in a generic manner. Second, how to make the robot capture the dynamics without any external sensing. Third, how to enable the robot to interact with load handling the mutual effect and stabilizing the load. In this work, we propose a general load modeling approach called load characteristics modeling to capture the dynamics of the load. We integrate this"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2507.07825","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-10T14:54:52Z","cross_cats_sorted":[],"title_canon_sha256":"2ffab0e02507cde4e6a72bd2f046f3f440c4315a2a559b9ab5bf321fc4041890","abstract_canon_sha256":"1a9e6c326232fccea7fb65fc219d3e636f4389c9afab0161ce4349fda3097003"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:35:05.739110Z","signature_b64":"2ZrHjaC8witIqrZ1LY+f+NTg4S248ZG5wJYNfRUWsN8f+5/A1PfwragCb+JNNDpDJXel2qMHslh8JXXDxBggDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"862e728f0468fa8964368642eb934515df6604c49ab3c3f4d220e7e6db14ac89","last_reissued_at":"2026-07-05T11:35:05.738519Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:35:05.738519Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hua Chen, Leixin Chang, Liangjing Yang, Yuxuan Nai","submitted_at":"2025-07-10T14:54:52Z","abstract_excerpt":"Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the load in a generic manner. Second, how to make the robot capture the dynamics without any external sensing. Third, how to enable the robot to interact with load handling the mutual effect and stabilizing the load. In this work, we propose a general load modeling approach called load characteristics modeling to capture the dynamics of the load. We integrate this"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.07825","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/2507.07825/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2507.07825","created_at":"2026-07-05T11:35:05.738591+00:00"},{"alias_kind":"arxiv_version","alias_value":"2507.07825v1","created_at":"2026-07-05T11:35:05.738591+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.07825","created_at":"2026-07-05T11:35:05.738591+00:00"},{"alias_kind":"pith_short_12","alias_value":"QYXHFDYEND5I","created_at":"2026-07-05T11:35:05.738591+00:00"},{"alias_kind":"pith_short_16","alias_value":"QYXHFDYEND5ISZBW","created_at":"2026-07-05T11:35:05.738591+00:00"},{"alias_kind":"pith_short_8","alias_value":"QYXHFDYE","created_at":"2026-07-05T11:35:05.738591+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX","json":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX.json","graph_json":"https://pith.science/api/pith-number/QYXHFDYEND5ISZBWQZBOXE2FCX/graph.json","events_json":"https://pith.science/api/pith-number/QYXHFDYEND5ISZBWQZBOXE2FCX/events.json","paper":"https://pith.science/paper/QYXHFDYE"},"agent_actions":{"view_html":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX","download_json":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX.json","view_paper":"https://pith.science/paper/QYXHFDYE","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2507.07825&json=true","fetch_graph":"https://pith.science/api/pith-number/QYXHFDYEND5ISZBWQZBOXE2FCX/graph.json","fetch_events":"https://pith.science/api/pith-number/QYXHFDYEND5ISZBWQZBOXE2FCX/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX/action/timestamp_anchor","attest_storage":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX/action/storage_attestation","attest_author":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX/action/author_attestation","sign_citation":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX/action/citation_signature","submit_replication":"https://pith.science/pith/QYXHFDYEND5ISZBWQZBOXE2FCX/action/replication_record"}},"created_at":"2026-07-05T11:35:05.738591+00:00","updated_at":"2026-07-05T11:35:05.738591+00:00"}