{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:T5H2CEI2MKUOGW3XIRTPVJUQDO","short_pith_number":"pith:T5H2CEI2","canonical_record":{"source":{"id":"2606.26425","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T22:30:08Z","cross_cats_sorted":[],"title_canon_sha256":"a2507f29a27203b385afb12e2d2141e92373d2350ee2b6618368e51272f9493e","abstract_canon_sha256":"cf58800422a6a9a29a61c62bd79bff1320e307bc53a7993e664e7484a0c976b5"},"schema_version":"1.0"},"canonical_sha256":"9f4fa1111a62a8e35b774466faa6901bb4f46787f8fc8b4d3c55c1a614a266cb","source":{"kind":"arxiv","id":"2606.26425","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26425","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26425v1","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26425","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"T5H2CEI2MKUO","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"T5H2CEI2MKUOGW3X","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"T5H2CEI2","created_at":"2026-06-26T00:15:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:T5H2CEI2MKUOGW3XIRTPVJUQDO","target":"record","payload":{"canonical_record":{"source":{"id":"2606.26425","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T22:30:08Z","cross_cats_sorted":[],"title_canon_sha256":"a2507f29a27203b385afb12e2d2141e92373d2350ee2b6618368e51272f9493e","abstract_canon_sha256":"cf58800422a6a9a29a61c62bd79bff1320e307bc53a7993e664e7484a0c976b5"},"schema_version":"1.0"},"canonical_sha256":"9f4fa1111a62a8e35b774466faa6901bb4f46787f8fc8b4d3c55c1a614a266cb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-26T00:15:40.567993Z","signature_b64":"GemtxYMC/ibKj94oj7qybr3m1MUOzO/0RBTUX+mY5zYuD+n1/yFDtWRVzfmNJRzK47iQz9+s0AWkvgPTm20KAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9f4fa1111a62a8e35b774466faa6901bb4f46787f8fc8b4d3c55c1a614a266cb","last_reissued_at":"2026-06-26T00:15:40.567626Z","signature_status":"signed_v1","first_computed_at":"2026-06-26T00:15:40.567626Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.26425","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":"2026-06-26T00:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3CzEnqOz9W5DNvfvpDY/6LErihiNYlPi5v/7kd1iOoPwedVyForaP8otQYK20pDt/Q6qtynWJJ7dwvY/Dur+Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T18:55:20.683808Z"},"content_sha256":"0b8bffb03c0975719cba3fcfa5da290691992400c4a11db91f7f941d2963f049","schema_version":"1.0","event_id":"sha256:0b8bffb03c0975719cba3fcfa5da290691992400c4a11db91f7f941d2963f049"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:T5H2CEI2MKUOGW3XIRTPVJUQDO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Duncan William Calvert","submitted_at":"2026-06-24T22:30:08Z","abstract_excerpt":"Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole body motion, perception, contact, and operator supervision. This thesis presents a robot-local, runtime-editable behavior authoring and runtime system.\n  Our system strives to be maximally observable, predictable, and directable following Coactive Design principles developed during the DARPA Robotics Challenge. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitori"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26425","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/2606.26425/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":"2026-06-26T00:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"btc56EY72PHeRYELFs8VH/fNSUz1O5kspbbr4QmRYgfyI0XzEgjHqGNxBev+ayqcRVA1LyvlWXejzeBWJcimAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T18:55:20.684165Z"},"content_sha256":"5cf0b4593568e1e3727d06d3885a85b21289b444c125c9dfc1b1e973415507a9","schema_version":"1.0","event_id":"sha256:5cf0b4593568e1e3727d06d3885a85b21289b444c125c9dfc1b1e973415507a9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/bundle.json","state_url":"https://pith.science/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/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":"2026-06-27T18:55:20Z","links":{"resolver":"https://pith.science/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO","bundle":"https://pith.science/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/bundle.json","state":"https://pith.science/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T5H2CEI2MKUOGW3XIRTPVJUQDO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:T5H2CEI2MKUOGW3XIRTPVJUQDO","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":"cf58800422a6a9a29a61c62bd79bff1320e307bc53a7993e664e7484a0c976b5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T22:30:08Z","title_canon_sha256":"a2507f29a27203b385afb12e2d2141e92373d2350ee2b6618368e51272f9493e"},"schema_version":"1.0","source":{"id":"2606.26425","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26425","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26425v1","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26425","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"T5H2CEI2MKUO","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"T5H2CEI2MKUOGW3X","created_at":"2026-06-26T00:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"T5H2CEI2","created_at":"2026-06-26T00:15:40Z"}],"graph_snapshots":[{"event_id":"sha256:5cf0b4593568e1e3727d06d3885a85b21289b444c125c9dfc1b1e973415507a9","target":"graph","created_at":"2026-06-26T00:15:40Z","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/2606.26425/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole body motion, perception, contact, and operator supervision. This thesis presents a robot-local, runtime-editable behavior authoring and runtime system.\n  Our system strives to be maximally observable, predictable, and directable following Coactive Design principles developed during the DARPA Robotics Challenge. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitori","authors_text":"Duncan William Calvert","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T22:30:08Z","title":"A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26425","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":"sha256:0b8bffb03c0975719cba3fcfa5da290691992400c4a11db91f7f941d2963f049","target":"record","created_at":"2026-06-26T00:15:40Z","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":"cf58800422a6a9a29a61c62bd79bff1320e307bc53a7993e664e7484a0c976b5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T22:30:08Z","title_canon_sha256":"a2507f29a27203b385afb12e2d2141e92373d2350ee2b6618368e51272f9493e"},"schema_version":"1.0","source":{"id":"2606.26425","kind":"arxiv","version":1}},"canonical_sha256":"9f4fa1111a62a8e35b774466faa6901bb4f46787f8fc8b4d3c55c1a614a266cb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9f4fa1111a62a8e35b774466faa6901bb4f46787f8fc8b4d3c55c1a614a266cb","first_computed_at":"2026-06-26T00:15:40.567626Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-26T00:15:40.567626Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GemtxYMC/ibKj94oj7qybr3m1MUOzO/0RBTUX+mY5zYuD+n1/yFDtWRVzfmNJRzK47iQz9+s0AWkvgPTm20KAQ==","signature_status":"signed_v1","signed_at":"2026-06-26T00:15:40.567993Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.26425","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0b8bffb03c0975719cba3fcfa5da290691992400c4a11db91f7f941d2963f049","sha256:5cf0b4593568e1e3727d06d3885a85b21289b444c125c9dfc1b1e973415507a9"],"state_sha256":"698a783c50a87c33e0dbc48d5666795087abe025f1b417628c0460291b12d94f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yrbzuRAW/FN/ksvTo429Y/RCBLO6AgW6jceWXjbyGUO1jf97Uq9pvzwZI/WHUzunmSaNMGj/yJuvZhM11C2+DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T18:55:20.686072Z","bundle_sha256":"44cca6953be9395856cc50d8a36f1395d272716529e1b0331b2c793822587d63"}}