{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:TUK7T52UTGTOPSNYHPB2VWDYRM","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":"9ab9c3991bb4e4130d98951fb2276fcd5978a80e072728bf54f7b314c7756345","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-31T02:49:03Z","title_canon_sha256":"8a9549ea0626fbc1fd1e78c58d754c472ad24bc78b2c4a4f42008d70985d1074"},"schema_version":"1.0","source":{"id":"1810.13082","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.13082","created_at":"2026-05-17T23:52:21Z"},{"alias_kind":"arxiv_version","alias_value":"1810.13082v2","created_at":"2026-05-17T23:52:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.13082","created_at":"2026-05-17T23:52:21Z"},{"alias_kind":"pith_short_12","alias_value":"TUK7T52UTGTO","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"TUK7T52UTGTOPSNY","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"TUK7T52U","created_at":"2026-05-18T12:32:56Z"}],"graph_snapshots":[{"event_id":"sha256:ce86c40807bd6555e53ea97d31b35d7326fdce9e2eceb18803d1883061a83b7e","target":"graph","created_at":"2026-05-17T23:52:21Z","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"},"paper":{"abstract_excerpt":"Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact planning approaches assume a quasi-static balance criterion to reduce the computational challenges of selecting a contact sequence over a rough terrain. This however limits the applicability of the approach when dynamic motions are required, such as when walking down a steep slope or crossing a wide gap. Recent methods overcome this limitation with the help of ","authors_text":"Brahayam Ponton, Dmitry Berenson, Ludovic Righetti, Yu-Chi Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-31T02:49:03Z","title":"Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.13082","kind":"arxiv","version":2},"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:e136ffa86b1e7e2da45c374364d361f036e66d12ea28c2667fd97ef6e4aa14ce","target":"record","created_at":"2026-05-17T23:52:21Z","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":"9ab9c3991bb4e4130d98951fb2276fcd5978a80e072728bf54f7b314c7756345","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-31T02:49:03Z","title_canon_sha256":"8a9549ea0626fbc1fd1e78c58d754c472ad24bc78b2c4a4f42008d70985d1074"},"schema_version":"1.0","source":{"id":"1810.13082","kind":"arxiv","version":2}},"canonical_sha256":"9d15f9f75499a6e7c9b83bc3aad8788b16f99c47a646b2bebf1959cf41c04ccb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9d15f9f75499a6e7c9b83bc3aad8788b16f99c47a646b2bebf1959cf41c04ccb","first_computed_at":"2026-05-17T23:52:21.859386Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:52:21.859386Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YjS/2SZxx4HLWQZFwcW+2NAY83YUPsgLCBbHixFjlX7whQ/TEopMMRK0P/lsQSlwmbf/avy7TAicOnDUJiN2CA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:52:21.860060Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.13082","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e136ffa86b1e7e2da45c374364d361f036e66d12ea28c2667fd97ef6e4aa14ce","sha256:ce86c40807bd6555e53ea97d31b35d7326fdce9e2eceb18803d1883061a83b7e"],"state_sha256":"1f15fa620c700d6e2ccc37594652ec369053c03d82b7efb8e6bc749e10c03d70"}