{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:U7ALWPQ45FI33NTYF6DSK3QQ7I","short_pith_number":"pith:U7ALWPQ4","canonical_record":{"source":{"id":"2507.10164","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-14T11:25:13Z","cross_cats_sorted":[],"title_canon_sha256":"981a0e516c34417178557a37f6d70b1dd6d96362de4da65e64500e8783978672","abstract_canon_sha256":"b6bd98a01a092e23024765670e677e9548d0dd000fb1813a82b76947a6695e8e"},"schema_version":"1.0"},"canonical_sha256":"a7c0bb3e1ce951bdb6782f87256e10fa162e245caf5234e295597003cca92a52","source":{"kind":"arxiv","id":"2507.10164","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.10164","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"arxiv_version","alias_value":"2507.10164v1","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.10164","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_12","alias_value":"U7ALWPQ45FI3","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_16","alias_value":"U7ALWPQ45FI33NTY","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_8","alias_value":"U7ALWPQ4","created_at":"2026-07-05T11:36:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:U7ALWPQ45FI33NTYF6DSK3QQ7I","target":"record","payload":{"canonical_record":{"source":{"id":"2507.10164","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-14T11:25:13Z","cross_cats_sorted":[],"title_canon_sha256":"981a0e516c34417178557a37f6d70b1dd6d96362de4da65e64500e8783978672","abstract_canon_sha256":"b6bd98a01a092e23024765670e677e9548d0dd000fb1813a82b76947a6695e8e"},"schema_version":"1.0"},"canonical_sha256":"a7c0bb3e1ce951bdb6782f87256e10fa162e245caf5234e295597003cca92a52","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:36:46.235998Z","signature_b64":"aLDVAUrkGNNESHptbZ0Tn/EHPWkoldTY1mnMHATPPZmedi9F9XXZcN92GgmS023krHEUHLsxg6MNQt4bkLA8Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a7c0bb3e1ce951bdb6782f87256e10fa162e245caf5234e295597003cca92a52","last_reissued_at":"2026-07-05T11:36:46.235550Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:36:46.235550Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.10164","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":"2026-07-05T11:36:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OHO+Ybb7P9Sf+qVbs2N/q06MYdweNfRl550g1eer2vTwWX7VkbqkY2FN+FyBU8MIc6D4V4rru5SMUebpEr7EBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:39:25.323567Z"},"content_sha256":"3ebe78e3ec818567178f9b52e8b1e8e56b24863472e42721f26882aa8bf1f9b6","schema_version":"1.0","event_id":"sha256:3ebe78e3ec818567178f9b52e8b1e8e56b24863472e42721f26882aa8bf1f9b6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:U7ALWPQ45FI33NTYF6DSK3QQ7I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexey Burkov, Eduard Zaliaev, Egor Lygin, Egor Maslennikov, Evgeny Ponomarev, Gleb Afanasev, Karanov Dmitry, Nikita Dudorov, Oleg Shamanin, Simeon Nedelchev","submitted_at":"2025-07-14T11:25:13Z","abstract_excerpt":"Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches simplify these parallel mechanisms into serial models during training. We demonstrate that this simplification significantly impairs sim-to-real transfer by failing to capture essential aspects such as joint coupling, friction dynamics, and motor-space control characteristics. In this work, we present an RL framework that explicitly incorporates closed-chain dynamics and validate it on our custom-built robot TopA. Ou"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.10164","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/2507.10164/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":"2026-07-05T11:36:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zz2SFyrOHQGtCXBWzeYyh+3knyGFJrCHomc62I4NSkVbRMWsPjwYZ/iePGxO2h+RiZy96mLehEKIprTp8sfrAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:39:25.324057Z"},"content_sha256":"c4f9e2ce33e610233621a152430771326fed9f9cd7fe556f0df6c3cf26525116","schema_version":"1.0","event_id":"sha256:c4f9e2ce33e610233621a152430771326fed9f9cd7fe556f0df6c3cf26525116"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/bundle.json","state_url":"https://pith.science/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/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":"2026-08-08T18:39:25Z","links":{"resolver":"https://pith.science/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I","bundle":"https://pith.science/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/bundle.json","state":"https://pith.science/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U7ALWPQ45FI33NTYF6DSK3QQ7I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:U7ALWPQ45FI33NTYF6DSK3QQ7I","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":"b6bd98a01a092e23024765670e677e9548d0dd000fb1813a82b76947a6695e8e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-14T11:25:13Z","title_canon_sha256":"981a0e516c34417178557a37f6d70b1dd6d96362de4da65e64500e8783978672"},"schema_version":"1.0","source":{"id":"2507.10164","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.10164","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"arxiv_version","alias_value":"2507.10164v1","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.10164","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_12","alias_value":"U7ALWPQ45FI3","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_16","alias_value":"U7ALWPQ45FI33NTY","created_at":"2026-07-05T11:36:46Z"},{"alias_kind":"pith_short_8","alias_value":"U7ALWPQ4","created_at":"2026-07-05T11:36:46Z"}],"graph_snapshots":[{"event_id":"sha256:c4f9e2ce33e610233621a152430771326fed9f9cd7fe556f0df6c3cf26525116","target":"graph","created_at":"2026-07-05T11:36:46Z","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/2507.10164/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches simplify these parallel mechanisms into serial models during training. We demonstrate that this simplification significantly impairs sim-to-real transfer by failing to capture essential aspects such as joint coupling, friction dynamics, and motor-space control characteristics. In this work, we present an RL framework that explicitly incorporates closed-chain dynamics and validate it on our custom-built robot TopA. Ou","authors_text":"Alexey Burkov, Eduard Zaliaev, Egor Lygin, Egor Maslennikov, Evgeny Ponomarev, Gleb Afanasev, Karanov Dmitry, Nikita Dudorov, Oleg Shamanin, Simeon Nedelchev","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-14T11:25:13Z","title":"Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.10164","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":"sha256:3ebe78e3ec818567178f9b52e8b1e8e56b24863472e42721f26882aa8bf1f9b6","target":"record","created_at":"2026-07-05T11:36:46Z","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":"b6bd98a01a092e23024765670e677e9548d0dd000fb1813a82b76947a6695e8e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-14T11:25:13Z","title_canon_sha256":"981a0e516c34417178557a37f6d70b1dd6d96362de4da65e64500e8783978672"},"schema_version":"1.0","source":{"id":"2507.10164","kind":"arxiv","version":1}},"canonical_sha256":"a7c0bb3e1ce951bdb6782f87256e10fa162e245caf5234e295597003cca92a52","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a7c0bb3e1ce951bdb6782f87256e10fa162e245caf5234e295597003cca92a52","first_computed_at":"2026-07-05T11:36:46.235550Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:36:46.235550Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aLDVAUrkGNNESHptbZ0Tn/EHPWkoldTY1mnMHATPPZmedi9F9XXZcN92GgmS023krHEUHLsxg6MNQt4bkLA8Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:36:46.235998Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.10164","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3ebe78e3ec818567178f9b52e8b1e8e56b24863472e42721f26882aa8bf1f9b6","sha256:c4f9e2ce33e610233621a152430771326fed9f9cd7fe556f0df6c3cf26525116"],"state_sha256":"bdd5d10797ec1d718b00707c133781d5c99cb3d7b93121e4104ec9d90c338d56"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nFqCcDcebNt30QmzmzK6jPKZ4OlrJ/iw3U0wg8LLelKxrednMiwEGlCyulhWyEaKLT3jRgY5qiAc7KYG348MBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T18:39:25.328303Z","bundle_sha256":"2e5825d67fd976c276c76e764460074f866e42026ddea99c04c5838650bd2e92"}}