{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:SVR3Z74KKWCJSACVL7IZMQVASV","short_pith_number":"pith:SVR3Z74K","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"},"canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","source":{"kind":"arxiv","id":"2203.03391","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.03391","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"arxiv_version","alias_value":"2203.03391v1","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.03391","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_12","alias_value":"SVR3Z74KKWCJ","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_16","alias_value":"SVR3Z74KKWCJSACV","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_8","alias_value":"SVR3Z74K","created_at":"2026-07-05T04:02:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:SVR3Z74KKWCJSACVL7IZMQVASV","target":"record","payload":{"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"},"canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","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"},"source_kind":"arxiv","source_id":"2203.03391","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:02:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z5cuvhiajnC03reBxuaAJ5xADXWszLSG6K0r4sxUVf76logkqmG2+vvyNbhLnhnuAarycVoezX2S6H8e9isnAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T00:35:58.749249Z"},"content_sha256":"7c3465913acdd7430e45453d980d0a98a132725d1671cbb1f5bfacd4d51c7863","schema_version":"1.0","event_id":"sha256:7c3465913acdd7430e45453d980d0a98a132725d1671cbb1f5bfacd4d51c7863"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:SVR3Z74KKWCJSACVL7IZMQVASV","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:02:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zLnV+e/BWXF7vzhtwaG4b6lTSL/kDM3iZBciR2v3FIxhRvm6GtdxWWpvLv5wGarCwZL5nvvE+YK8HOncjufMCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T00:35:58.749751Z"},"content_sha256":"0ae16242b92e5366ae7e33665748290f83121e9a12baf3bbef214e9e9710c771","schema_version":"1.0","event_id":"sha256:0ae16242b92e5366ae7e33665748290f83121e9a12baf3bbef214e9e9710c771"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/bundle.json","state_url":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SVR3Z74KKWCJSACVL7IZMQVASV/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":"2026-08-22T00:35:58Z","links":{"resolver":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV","bundle":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/bundle.json","state":"https://pith.science/pith/SVR3Z74KKWCJSACVL7IZMQVASV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SVR3Z74KKWCJSACVL7IZMQVASV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:SVR3Z74KKWCJSACVL7IZMQVASV","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":"aadfe9d148dc2f80e449361ec5d008974767bbeea83e5b7650d4ca783d6c2834","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-02T14:54:10Z","title_canon_sha256":"cd911ab8a16d0090214f5535727910cadfe5707cc3896029f094d9ef5635358a"},"schema_version":"1.0","source":{"id":"2203.03391","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.03391","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"arxiv_version","alias_value":"2203.03391v1","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.03391","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_12","alias_value":"SVR3Z74KKWCJ","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_16","alias_value":"SVR3Z74KKWCJSACV","created_at":"2026-07-05T04:02:34Z"},{"alias_kind":"pith_short_8","alias_value":"SVR3Z74K","created_at":"2026-07-05T04:02:34Z"}],"graph_snapshots":[{"event_id":"sha256:0ae16242b92e5366ae7e33665748290f83121e9a12baf3bbef214e9e9710c771","target":"graph","created_at":"2026-07-05T04:02:34Z","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/2203.03391/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Cong Wang, Donglin Wang, Jilong Wan, Linghan Meng, Qifeng Zhang, Qingfeng Yao, Shuyu Yang","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-02T14:54:10Z","title":"A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.03391","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":"sha256:7c3465913acdd7430e45453d980d0a98a132725d1671cbb1f5bfacd4d51c7863","target":"record","created_at":"2026-07-05T04:02:34Z","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":"aadfe9d148dc2f80e449361ec5d008974767bbeea83e5b7650d4ca783d6c2834","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-02T14:54:10Z","title_canon_sha256":"cd911ab8a16d0090214f5535727910cadfe5707cc3896029f094d9ef5635358a"},"schema_version":"1.0","source":{"id":"2203.03391","kind":"arxiv","version":1}},"canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9563bcff8a55849900555fd19642a0957a68661c8e15ae7cd7049ab136a688a5","first_computed_at":"2026-07-05T04:02:34.119247Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:02:34.119247Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"//7rT3btAbEFoRpUGzb3pTs22z3Xc+xUic/Rzw3jMih8V/yJKrRx/dyBjAYnu773BS71VwsA3dyFR7jIzJ9oDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:02:34.119678Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.03391","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c3465913acdd7430e45453d980d0a98a132725d1671cbb1f5bfacd4d51c7863","sha256:0ae16242b92e5366ae7e33665748290f83121e9a12baf3bbef214e9e9710c771"],"state_sha256":"8db3e837996cc714d32e6c752ea78f18084fbc31f23b67e0238f215aa2a8c38b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4KI2MzD2xhVR8g42S38ZUXJDNRWz4RzmPw71j2xn6kR+C5BW0a454JTi2eLW82qVrwB+SdeD/DXfQA7AvnN2BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T00:35:58.755112Z","bundle_sha256":"ac6658f6dea5bf90dc8c333ae3ad266261fa577d8451d592b859d473cd3f49f1"}}