{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:SVR3Z74KKWCJSACVL7IZMQVASV","short_pith_number":"pith:SVR3Z74K","schema_version":"1.0","canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","source":{"kind":"arxiv","id":"2203.03391","version":1},"attestation_state":"computed","paper":{"title":"A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Cong Wang, Donglin Wang, Jilong Wan, Linghan Meng, Qifeng Zhang, Qingfeng Yao, Shuyu Yang","submitted_at":"2022-03-02T14:54:10Z","abstract_excerpt":"Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a rein"},"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":"2203.03391","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-02T14:54:10Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"cd911ab8a16d0090214f5535727910cadfe5707cc3896029f094d9ef5635358a","abstract_canon_sha256":"aadfe9d148dc2f80e449361ec5d008974767bbeea83e5b7650d4ca783d6c2834"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:02:34.119678Z","signature_b64":"//7rT3btAbEFoRpUGzb3pTs22z3Xc+xUic/Rzw3jMih8V/yJKrRx/dyBjAYnu773BS71VwsA3dyFR7jIzJ9oDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","last_reissued_at":"2026-07-05T04:02:34.119247Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:02:34.119247Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Cong Wang, Donglin Wang, Jilong Wan, Linghan Meng, Qifeng Zhang, Qingfeng Yao, Shuyu Yang","submitted_at":"2022-03-02T14:54:10Z","abstract_excerpt":"Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a rein"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.03391","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/2203.03391/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":"2203.03391","created_at":"2026-07-05T04:02:34.119307+00:00"},{"alias_kind":"arxiv_version","alias_value":"2203.03391v1","created_at":"2026-07-05T04:02:34.119307+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.03391","created_at":"2026-07-05T04:02:34.119307+00:00"},{"alias_kind":"pith_short_12","alias_value":"SVR3Z74KKWCJ","created_at":"2026-07-05T04:02:34.119307+00:00"},{"alias_kind":"pith_short_16","alias_value":"SVR3Z74KKWCJSACV","created_at":"2026-07-05T04:02:34.119307+00:00"},{"alias_kind":"pith_short_8","alias_value":"SVR3Z74K","created_at":"2026-07-05T04:02:34.119307+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/SVR3Z74KKWCJSACVL7IZMQVASV","json":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV.json","graph_json":"https://pith.science/api/pith-number/SVR3Z74KKWCJSACVL7IZMQVASV/graph.json","events_json":"https://pith.science/api/pith-number/SVR3Z74KKWCJSACVL7IZMQVASV/events.json","paper":"https://pith.science/paper/SVR3Z74K"},"agent_actions":{"view_html":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV","download_json":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV.json","view_paper":"https://pith.science/paper/SVR3Z74K","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2203.03391&json=true","fetch_graph":"https://pith.science/api/pith-number/SVR3Z74KKWCJSACVL7IZMQVASV/graph.json","fetch_events":"https://pith.science/api/pith-number/SVR3Z74KKWCJSACVL7IZMQVASV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/action/storage_attestation","attest_author":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/action/author_attestation","sign_citation":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/action/citation_signature","submit_replication":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/action/replication_record"}},"created_at":"2026-07-05T04:02:34.119307+00:00","updated_at":"2026-07-05T04:02:34.119307+00:00"}