{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:U4NWPA7DCRDVEN7N2FS6J5FS4X","short_pith_number":"pith:U4NWPA7D","canonical_record":{"source":{"id":"2606.07193","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T11:59:43Z","cross_cats_sorted":[],"title_canon_sha256":"ed0891e91c5c9de43752d3e38ab48b84e3f23b41337a760aad648da3a30b3748","abstract_canon_sha256":"5e4843a6405224c23ac87680f4d8931a1dca4cb41e1fc6c91de8279fb4729d00"},"schema_version":"1.0"},"canonical_sha256":"a71b6783e314475237edd165e4f4b2e5d64c5c1fd891ab7c2a2967efb1514fe5","source":{"kind":"arxiv","id":"2606.07193","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.07193","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"arxiv_version","alias_value":"2606.07193v1","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.07193","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_12","alias_value":"U4NWPA7DCRDV","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_16","alias_value":"U4NWPA7DCRDVEN7N","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_8","alias_value":"U4NWPA7D","created_at":"2026-06-08T01:04:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:U4NWPA7DCRDVEN7N2FS6J5FS4X","target":"record","payload":{"canonical_record":{"source":{"id":"2606.07193","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T11:59:43Z","cross_cats_sorted":[],"title_canon_sha256":"ed0891e91c5c9de43752d3e38ab48b84e3f23b41337a760aad648da3a30b3748","abstract_canon_sha256":"5e4843a6405224c23ac87680f4d8931a1dca4cb41e1fc6c91de8279fb4729d00"},"schema_version":"1.0"},"canonical_sha256":"a71b6783e314475237edd165e4f4b2e5d64c5c1fd891ab7c2a2967efb1514fe5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-08T01:04:51.827886Z","signature_b64":"3jDrahR/cK2qauWycHR6U0kfmSDYeFlg1SILwlTaMRGoVuC7gqYmDg7WaGiMDX9ZHoGatOPM21qzGD0eH2maCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a71b6783e314475237edd165e4f4b2e5d64c5c1fd891ab7c2a2967efb1514fe5","last_reissued_at":"2026-06-08T01:04:51.827187Z","signature_status":"signed_v1","first_computed_at":"2026-06-08T01:04:51.827187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.07193","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":"2026-06-08T01:04:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OdxFJa60jXmAkKmAo2XVshgk+jRabMOh00DJQ6sB08m9/4J/o0xHzBTT2+avsb1opNyR1NC2UWpXbfzZ8KG3AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T13:20:57.580617Z"},"content_sha256":"f13684f253d6fe765e7fc48dcce6ee51f0827068dd3fde85de91047ea788e59c","schema_version":"1.0","event_id":"sha256:f13684f253d6fe765e7fc48dcce6ee51f0827068dd3fde85de91047ea788e59c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:U4NWPA7DCRDVEN7N2FS6J5FS4X","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron Johnson, Aditya Shirwatkar, Majid Khadiv, Sebastian Sanokowski, Shishir Kolathaya","submitted_at":"2026-06-05T11:59:43Z","abstract_excerpt":"Reinforcement learning (RL) policies enable dynamic legged locomotion but lack mechanisms to avoid violations of safety constraints that are absent during training. Large-scale offline safe learning is impractical for covering all edge cases. Existing safety frameworks either rely on reduced-order models that cannot reason about whole-body behaviors or require conservative recovery controllers that degrade task performance. We propose a predictive safety filter that post-hoc filters the nominal contact locations fed to the RL policy. When a collision is predicted, a sampling-based optimizer as"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07193","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/2606.07193/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":"2026-06-08T01:04:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pr4xxgKnK2W15qEXQVGyQmmEbkMK4uOClWW9lJwiqY8MyErtKFaI0VWHvrUzfrl1VwXKl/YM8WTaFHAAJP4cBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T13:20:57.580999Z"},"content_sha256":"90fbb15b1a66ce66e6325f9bca8c871a2d74fa1f0370879a5340b5bbd5421b3f","schema_version":"1.0","event_id":"sha256:90fbb15b1a66ce66e6325f9bca8c871a2d74fa1f0370879a5340b5bbd5421b3f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/bundle.json","state_url":"https://pith.science/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/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":"2026-06-11T13:20:57Z","links":{"resolver":"https://pith.science/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X","bundle":"https://pith.science/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/bundle.json","state":"https://pith.science/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U4NWPA7DCRDVEN7N2FS6J5FS4X/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:U4NWPA7DCRDVEN7N2FS6J5FS4X","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":"5e4843a6405224c23ac87680f4d8931a1dca4cb41e1fc6c91de8279fb4729d00","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T11:59:43Z","title_canon_sha256":"ed0891e91c5c9de43752d3e38ab48b84e3f23b41337a760aad648da3a30b3748"},"schema_version":"1.0","source":{"id":"2606.07193","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.07193","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"arxiv_version","alias_value":"2606.07193v1","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.07193","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_12","alias_value":"U4NWPA7DCRDV","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_16","alias_value":"U4NWPA7DCRDVEN7N","created_at":"2026-06-08T01:04:51Z"},{"alias_kind":"pith_short_8","alias_value":"U4NWPA7D","created_at":"2026-06-08T01:04:51Z"}],"graph_snapshots":[{"event_id":"sha256:90fbb15b1a66ce66e6325f9bca8c871a2d74fa1f0370879a5340b5bbd5421b3f","target":"graph","created_at":"2026-06-08T01:04:51Z","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/2606.07193/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reinforcement learning (RL) policies enable dynamic legged locomotion but lack mechanisms to avoid violations of safety constraints that are absent during training. Large-scale offline safe learning is impractical for covering all edge cases. Existing safety frameworks either rely on reduced-order models that cannot reason about whole-body behaviors or require conservative recovery controllers that degrade task performance. We propose a predictive safety filter that post-hoc filters the nominal contact locations fed to the RL policy. When a collision is predicted, a sampling-based optimizer as","authors_text":"Aaron Johnson, Aditya Shirwatkar, Majid Khadiv, Sebastian Sanokowski, Shishir Kolathaya","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T11:59:43Z","title":"Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07193","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:f13684f253d6fe765e7fc48dcce6ee51f0827068dd3fde85de91047ea788e59c","target":"record","created_at":"2026-06-08T01:04:51Z","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":"5e4843a6405224c23ac87680f4d8931a1dca4cb41e1fc6c91de8279fb4729d00","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T11:59:43Z","title_canon_sha256":"ed0891e91c5c9de43752d3e38ab48b84e3f23b41337a760aad648da3a30b3748"},"schema_version":"1.0","source":{"id":"2606.07193","kind":"arxiv","version":1}},"canonical_sha256":"a71b6783e314475237edd165e4f4b2e5d64c5c1fd891ab7c2a2967efb1514fe5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a71b6783e314475237edd165e4f4b2e5d64c5c1fd891ab7c2a2967efb1514fe5","first_computed_at":"2026-06-08T01:04:51.827187Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-08T01:04:51.827187Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3jDrahR/cK2qauWycHR6U0kfmSDYeFlg1SILwlTaMRGoVuC7gqYmDg7WaGiMDX9ZHoGatOPM21qzGD0eH2maCQ==","signature_status":"signed_v1","signed_at":"2026-06-08T01:04:51.827886Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.07193","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f13684f253d6fe765e7fc48dcce6ee51f0827068dd3fde85de91047ea788e59c","sha256:90fbb15b1a66ce66e6325f9bca8c871a2d74fa1f0370879a5340b5bbd5421b3f"],"state_sha256":"0c94bccde225005bb83ef88240b891dc438c4723d6d2250b2cc72354458e7f07"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WagmC6v8NvgRWcbKsjJpBeLJmwV5zZtclQMsyzY1VSb4/bhlKuDrV/50W4Qtu1L0ipU154Q8eo3lO6LL7VAgCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T13:20:57.583178Z","bundle_sha256":"c59b742f9cc6c8f5f2a5193a85a6f31a89a69961b457f248c7ab2cc69dd3d1da"}}