{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SARFFAA3KBXANNBP5WMEQL7KMF","short_pith_number":"pith:SARFFAA3","canonical_record":{"source":{"id":"2505.10973","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-16T08:17:01Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"3d22e2bad1fd972e555bcc9470bc48e25f4e1a235349a70795ced104f3dd3aab","abstract_canon_sha256":"d3ecf3f06a4bfa5b6ba9579ac3bb8643e15205a8249eb3e81f07afeb3ddb53c4"},"schema_version":"1.0"},"canonical_sha256":"902252801b506e06b42fed98482fea6157537f8dcbdacf051e3d02522ca21ddd","source":{"kind":"arxiv","id":"2505.10973","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.10973","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.10973v3","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.10973","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_12","alias_value":"SARFFAA3KBXA","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_16","alias_value":"SARFFAA3KBXANNBP","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_8","alias_value":"SARFFAA3","created_at":"2026-07-05T11:09:13Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SARFFAA3KBXANNBP5WMEQL7KMF","target":"record","payload":{"canonical_record":{"source":{"id":"2505.10973","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-16T08:17:01Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"3d22e2bad1fd972e555bcc9470bc48e25f4e1a235349a70795ced104f3dd3aab","abstract_canon_sha256":"d3ecf3f06a4bfa5b6ba9579ac3bb8643e15205a8249eb3e81f07afeb3ddb53c4"},"schema_version":"1.0"},"canonical_sha256":"902252801b506e06b42fed98482fea6157537f8dcbdacf051e3d02522ca21ddd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:09:13.567408Z","signature_b64":"sF75GTYDcMicpGqZLR69saIbkJZlNu8Mjx/swbBafacBRV7SGxBKQsMZD6CCNu+zSDICVm3J7xkLBY0ai8HlDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"902252801b506e06b42fed98482fea6157537f8dcbdacf051e3d02522ca21ddd","last_reissued_at":"2026-07-05T11:09:13.566894Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:09:13.566894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.10973","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:09:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"etOUBiQsxwhD7h+/NG51pM4Ws+TLFZFC8zHPRICRbz0+fGzqM692XF6awzah/+P8CvfLtalnCziZ0nXkfVdBCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T05:58:55.077741Z"},"content_sha256":"dcd951c8eee0e68d7435e362de9f57cb08cd6c73b7a7b893d61f5672387ff628","schema_version":"1.0","event_id":"sha256:dcd951c8eee0e68d7435e362de9f57cb08cd6c73b7a7b893d61f5672387ff628"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SARFFAA3KBXANNBP5WMEQL7KMF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Narayanan PP, Sarvesh Prasanth Venkatesan, Shishir Kolathaya, Srinivas Kantha Reddy","submitted_at":"2025-05-16T08:17:01Z","abstract_excerpt":"Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to legged locomotion remains a challenge due to continuous dynamics and the need for real-time adaptation across diverse terrains and robot morphologies. In this work, we propose GRoQ-LoCO, a scalable, attention-based framework that learns a single generalist locomotion policy across multiple quadruped robots and terrains, relying solely on offline datasets. Our approach leverages expert demonstrations from two distinct "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.10973","kind":"arxiv","version":3},"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/2505.10973/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":"2026-07-05T11:09:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3/kA984YQlMsF8L94GJCyuSjRKNRjpYo3Lfd98VzWMa66CkgDe4sxY1rHLzmwo6pBrkVyHKqxawJpYdod8lBBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T05:58:55.078243Z"},"content_sha256":"f0698b60c4b989b6e4199261b442d503a971a8cd67339754276a90c7a830ada7","schema_version":"1.0","event_id":"sha256:f0698b60c4b989b6e4199261b442d503a971a8cd67339754276a90c7a830ada7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SARFFAA3KBXANNBP5WMEQL7KMF/bundle.json","state_url":"https://pith.science/pith/SARFFAA3KBXANNBP5WMEQL7KMF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SARFFAA3KBXANNBP5WMEQL7KMF/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":"2026-08-23T05:58:55Z","links":{"resolver":"https://pith.science/pith/SARFFAA3KBXANNBP5WMEQL7KMF","bundle":"https://pith.science/pith/SARFFAA3KBXANNBP5WMEQL7KMF/bundle.json","state":"https://pith.science/pith/SARFFAA3KBXANNBP5WMEQL7KMF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SARFFAA3KBXANNBP5WMEQL7KMF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SARFFAA3KBXANNBP5WMEQL7KMF","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":"d3ecf3f06a4bfa5b6ba9579ac3bb8643e15205a8249eb3e81f07afeb3ddb53c4","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-16T08:17:01Z","title_canon_sha256":"3d22e2bad1fd972e555bcc9470bc48e25f4e1a235349a70795ced104f3dd3aab"},"schema_version":"1.0","source":{"id":"2505.10973","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.10973","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"arxiv_version","alias_value":"2505.10973v3","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.10973","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_12","alias_value":"SARFFAA3KBXA","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_16","alias_value":"SARFFAA3KBXANNBP","created_at":"2026-07-05T11:09:13Z"},{"alias_kind":"pith_short_8","alias_value":"SARFFAA3","created_at":"2026-07-05T11:09:13Z"}],"graph_snapshots":[{"event_id":"sha256:f0698b60c4b989b6e4199261b442d503a971a8cd67339754276a90c7a830ada7","target":"graph","created_at":"2026-07-05T11:09:13Z","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/2505.10973/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to legged locomotion remains a challenge due to continuous dynamics and the need for real-time adaptation across diverse terrains and robot morphologies. In this work, we propose GRoQ-LoCO, a scalable, attention-based framework that learns a single generalist locomotion policy across multiple quadruped robots and terrains, relying solely on offline datasets. Our approach leverages expert demonstrations from two distinct ","authors_text":"Narayanan PP, Sarvesh Prasanth Venkatesan, Shishir Kolathaya, Srinivas Kantha Reddy","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-16T08:17:01Z","title":"GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.10973","kind":"arxiv","version":3},"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:dcd951c8eee0e68d7435e362de9f57cb08cd6c73b7a7b893d61f5672387ff628","target":"record","created_at":"2026-07-05T11:09:13Z","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":"d3ecf3f06a4bfa5b6ba9579ac3bb8643e15205a8249eb3e81f07afeb3ddb53c4","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-16T08:17:01Z","title_canon_sha256":"3d22e2bad1fd972e555bcc9470bc48e25f4e1a235349a70795ced104f3dd3aab"},"schema_version":"1.0","source":{"id":"2505.10973","kind":"arxiv","version":3}},"canonical_sha256":"902252801b506e06b42fed98482fea6157537f8dcbdacf051e3d02522ca21ddd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"902252801b506e06b42fed98482fea6157537f8dcbdacf051e3d02522ca21ddd","first_computed_at":"2026-07-05T11:09:13.566894Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:09:13.566894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sF75GTYDcMicpGqZLR69saIbkJZlNu8Mjx/swbBafacBRV7SGxBKQsMZD6CCNu+zSDICVm3J7xkLBY0ai8HlDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:09:13.567408Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.10973","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dcd951c8eee0e68d7435e362de9f57cb08cd6c73b7a7b893d61f5672387ff628","sha256:f0698b60c4b989b6e4199261b442d503a971a8cd67339754276a90c7a830ada7"],"state_sha256":"57d15a361c283da89b74e4f1f8b6471ba7b2a3790ffe2bf0aca270e4524cf4f5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jE7lA3nsEMjNFl9dBNzZbPEKrdlyOBfKpSvHbQ+M+3y++yfD3HeLeeJIgXjqa/XiSeSUFbN6RWnY9I5+DeNsCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T05:58:55.082038Z","bundle_sha256":"13be4f407a40ef7199a00d0b3ee2d8f94ac18f0b1da0080d60b186a089c82f0f"}}