{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:RSON5TV7SBVXWUHI34K5X6BKPC","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":"248eca5bba0aac497ff664c0fea24bde18f05e798e069b8d1e93f280001c0a07","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T14:00:10Z","title_canon_sha256":"5f8ab689e4775fcde5c79aeabd2ed0150ab610f459481b1d62a0791436d7842d"},"schema_version":"1.0","source":{"id":"2605.27046","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.27046","created_at":"2026-05-27T01:06:25Z"},{"alias_kind":"arxiv_version","alias_value":"2605.27046v1","created_at":"2026-05-27T01:06:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.27046","created_at":"2026-05-27T01:06:25Z"},{"alias_kind":"pith_short_12","alias_value":"RSON5TV7SBVX","created_at":"2026-05-27T01:06:25Z"},{"alias_kind":"pith_short_16","alias_value":"RSON5TV7SBVXWUHI","created_at":"2026-05-27T01:06:25Z"},{"alias_kind":"pith_short_8","alias_value":"RSON5TV7","created_at":"2026-05-27T01:06:25Z"}],"graph_snapshots":[{"event_id":"sha256:9e322194561c20e3533bc2d93e1690652963d2101bbfe34196b4084aacca8aeb","target":"graph","created_at":"2026-05-27T01:06:25Z","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/2605.27046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly legged robots, but motor overheating is a key factor that limits long-duration locomotion especially under payload conditions. This paper integrates a whole-body thermal model of a quadruped robot into the reinforcement learning pipeline to update motor temperatures, and proposes a two-stage training framework for motor thermal management. In this framework, a nominal policy is first pre-trained as a locomotion baseline capable of traversing diverse terrains. A residual policy is then trai","authors_text":"Chuanlin Zhao, Letian Qian, Shengwei Wu, WeiWei Wu, Weixian Lin, Xin Luo, Yiqi Zou, Yuhang Wan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T14:00:10Z","title":"Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.27046","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:a23fb8e77fee4dbb9a811dbe34635f7fcc7f612dc622379412fdfd60202d8bbd","target":"record","created_at":"2026-05-27T01:06:25Z","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":"248eca5bba0aac497ff664c0fea24bde18f05e798e069b8d1e93f280001c0a07","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-26T14:00:10Z","title_canon_sha256":"5f8ab689e4775fcde5c79aeabd2ed0150ab610f459481b1d62a0791436d7842d"},"schema_version":"1.0","source":{"id":"2605.27046","kind":"arxiv","version":1}},"canonical_sha256":"8c9cdecebf906b7b50e8df15dbf82a78b57063e4f8f3c1efcad27c0419d0b8ac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8c9cdecebf906b7b50e8df15dbf82a78b57063e4f8f3c1efcad27c0419d0b8ac","first_computed_at":"2026-05-27T01:06:25.718790Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-27T01:06:25.718790Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sfdhoSJ/Yqn9+5nb2M46sF0GE8E6OhWdqSM4DKPo0vNytlLgb2zPPdg1Tgep6rwH4hmwZUxsuPbKLODX9jwABQ==","signature_status":"signed_v1","signed_at":"2026-05-27T01:06:25.719543Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.27046","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a23fb8e77fee4dbb9a811dbe34635f7fcc7f612dc622379412fdfd60202d8bbd","sha256:9e322194561c20e3533bc2d93e1690652963d2101bbfe34196b4084aacca8aeb"],"state_sha256":"e7c46ad9fcceeaac1a06127bc615ce1dd28b8a5f59eb11c6325fa1e62ac553df"}