{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:UDE2OX4PWK2FFJVUMOUEDL5P5Q","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":"e69c685665e949ccc96ff144eeb97485713b5ec474d852fff18c0d577f9d8151","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-09T08:00:26Z","title_canon_sha256":"a83bd393d53fb7c15941fcea623f96704e07356acfd6ad788960cd8337f62773"},"schema_version":"1.0","source":{"id":"1810.03842","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.03842","created_at":"2026-05-17T23:52:40Z"},{"alias_kind":"arxiv_version","alias_value":"1810.03842v2","created_at":"2026-05-17T23:52:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.03842","created_at":"2026-05-17T23:52:40Z"},{"alias_kind":"pith_short_12","alias_value":"UDE2OX4PWK2F","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"UDE2OX4PWK2FFJVU","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"UDE2OX4P","created_at":"2026-05-18T12:32:56Z"}],"graph_snapshots":[{"event_id":"sha256:d417119a9f3379f77b5fa7f3619544e8599335475b10ec61ad00b8903b4e976f","target":"graph","created_at":"2026-05-17T23:52:40Z","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"},"paper":{"abstract_excerpt":"Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns for quadrupedal walking, called the kinematic motion primitives (kMPs), via trajectories learned from deep reinforcement learning (D-RL) and 2) Realize a set of behaviors, namely trot, walk, gallop and bound from these kinematic motion primitives in our custom four legged robot, called the `Stoch'. D-RL is a data driven approach, which has been shown to be v","authors_text":"Abhik Singla, Ashitava Ghosal, Bharadwaj Amrutur, Dhaivat Dholakiya, Shalabh Bhatnagar, Shishir Kolathaya, Shounak Bhattacharya","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-09T08:00:26Z","title":"Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.03842","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":"sha256:308e39484f15023276ac923296fb3da9576aed2713757870d3104f6648faf6c0","target":"record","created_at":"2026-05-17T23:52:40Z","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":"e69c685665e949ccc96ff144eeb97485713b5ec474d852fff18c0d577f9d8151","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-09T08:00:26Z","title_canon_sha256":"a83bd393d53fb7c15941fcea623f96704e07356acfd6ad788960cd8337f62773"},"schema_version":"1.0","source":{"id":"1810.03842","kind":"arxiv","version":2}},"canonical_sha256":"a0c9a75f8fb2b452a6b463a841afafec351acce8099e1d0cb2ced19c174e21d7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a0c9a75f8fb2b452a6b463a841afafec351acce8099e1d0cb2ced19c174e21d7","first_computed_at":"2026-05-17T23:52:40.650125Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:52:40.650125Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KvEZ5dgSVcl2gA4hF/ooz2Js00Bt/btJe01Jf3ASyT027l+83aAn8VX9raJtj6+vy8Ugw06lisRvB6RW6/NsCA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:52:40.651014Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.03842","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:308e39484f15023276ac923296fb3da9576aed2713757870d3104f6648faf6c0","sha256:d417119a9f3379f77b5fa7f3619544e8599335475b10ec61ad00b8903b4e976f"],"state_sha256":"b43e1c240c4f4eaa513040dda578bcc6f3e094b34b89d7cb2c3982d7b562129f"}