{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:UDX3VLEXQXM2PDN24K25L4OQWE","short_pith_number":"pith:UDX3VLEX","canonical_record":{"source":{"id":"2411.04494","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-07T07:41:47Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c94205bcb32c947c67ada71d7c1a9d4be339526c47962698c518ee3f603bf60b","abstract_canon_sha256":"9d8db17fd37c2e96de1d4adcc3dc72d57e0bd8efa2edc8762096a065a9a2e5c8"},"schema_version":"1.0"},"canonical_sha256":"a0efbaac9785d9a78dbae2b5d5f1d0b10441228255f7ad9efd584915d465281e","source":{"kind":"arxiv","id":"2411.04494","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.04494","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"arxiv_version","alias_value":"2411.04494v2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.04494","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_12","alias_value":"UDX3VLEXQXM2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_16","alias_value":"UDX3VLEXQXM2PDN2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_8","alias_value":"UDX3VLEX","created_at":"2026-07-05T09:33:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:UDX3VLEXQXM2PDN24K25L4OQWE","target":"record","payload":{"canonical_record":{"source":{"id":"2411.04494","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-07T07:41:47Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c94205bcb32c947c67ada71d7c1a9d4be339526c47962698c518ee3f603bf60b","abstract_canon_sha256":"9d8db17fd37c2e96de1d4adcc3dc72d57e0bd8efa2edc8762096a065a9a2e5c8"},"schema_version":"1.0"},"canonical_sha256":"a0efbaac9785d9a78dbae2b5d5f1d0b10441228255f7ad9efd584915d465281e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:33:40.691748Z","signature_b64":"hsC/KIOhfhZ4MKqtSBqFjTjol4JuPWGFV1pQFZaAR/+asL7km7o7yAl2JGgJx3y7Yw5hrcHLgmcMigAHGjEqBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a0efbaac9785d9a78dbae2b5d5f1d0b10441228255f7ad9efd584915d465281e","last_reissued_at":"2026-07-05T09:33:40.691234Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:33:40.691234Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.04494","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:33:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tLNRzUuKt9/3qPxVyuVUcUtx5FgEU6+6QQhPXiNVQbIk1sWYqLiinGZa3VgmfA5WzsfhmcCXPzb7qs2/yocWBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T05:16:50.590617Z"},"content_sha256":"1b3e39019ff9c7e2a8cc24c22b51a6531a71ebd4bd0de45ccc42fe0d2e688ceb","schema_version":"1.0","event_id":"sha256:1b3e39019ff9c7e2a8cc24c22b51a6531a71ebd4bd0de45ccc42fe0d2e688ceb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:UDX3VLEXQXM2PDN24K25L4OQWE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Hongbo Zhang, Jinhu Dong, Koushil Sreenath, Lingwei Zhang, Linzhu Yue, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li","submitted_at":"2024-11-07T07:41:47Z","abstract_excerpt":"Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research does not adequately address the problem of online omnidirectional jumping and neglects the robot's kinodynamic constraints during trajectory generation. This paper proposes a general and complete cascade online optimization framework for omnidirectional jumping for quadruped robots. Our solution systematically encompasses jumping trajectory generation, a traje"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.04494","kind":"arxiv","version":2},"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/2411.04494/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":"2026-07-05T09:33:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sxm43jCd9uTgYF6salQrLfJWxLOX7FhpL0LCpvUf1vcSVa5KEVrEZjoq45SA5r3b+x0KDa9oytbOcod30Wc0Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T05:16:50.591569Z"},"content_sha256":"763cb5aca2e527fdab24c0a4f66ceb0f2306a0a403a6f1eb0f2a821461c558cd","schema_version":"1.0","event_id":"sha256:763cb5aca2e527fdab24c0a4f66ceb0f2306a0a403a6f1eb0f2a821461c558cd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UDX3VLEXQXM2PDN24K25L4OQWE/bundle.json","state_url":"https://pith.science/pith/UDX3VLEXQXM2PDN24K25L4OQWE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UDX3VLEXQXM2PDN24K25L4OQWE/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":"2026-08-20T05:16:50Z","links":{"resolver":"https://pith.science/pith/UDX3VLEXQXM2PDN24K25L4OQWE","bundle":"https://pith.science/pith/UDX3VLEXQXM2PDN24K25L4OQWE/bundle.json","state":"https://pith.science/pith/UDX3VLEXQXM2PDN24K25L4OQWE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UDX3VLEXQXM2PDN24K25L4OQWE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:UDX3VLEXQXM2PDN24K25L4OQWE","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":"9d8db17fd37c2e96de1d4adcc3dc72d57e0bd8efa2edc8762096a065a9a2e5c8","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-07T07:41:47Z","title_canon_sha256":"c94205bcb32c947c67ada71d7c1a9d4be339526c47962698c518ee3f603bf60b"},"schema_version":"1.0","source":{"id":"2411.04494","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.04494","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"arxiv_version","alias_value":"2411.04494v2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.04494","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_12","alias_value":"UDX3VLEXQXM2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_16","alias_value":"UDX3VLEXQXM2PDN2","created_at":"2026-07-05T09:33:40Z"},{"alias_kind":"pith_short_8","alias_value":"UDX3VLEX","created_at":"2026-07-05T09:33:40Z"}],"graph_snapshots":[{"event_id":"sha256:763cb5aca2e527fdab24c0a4f66ceb0f2306a0a403a6f1eb0f2a821461c558cd","target":"graph","created_at":"2026-07-05T09:33:40Z","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/2411.04494/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research does not adequately address the problem of online omnidirectional jumping and neglects the robot's kinodynamic constraints during trajectory generation. This paper proposes a general and complete cascade online optimization framework for omnidirectional jumping for quadruped robots. Our solution systematically encompasses jumping trajectory generation, a traje","authors_text":"Hongbo Zhang, Jinhu Dong, Koushil Sreenath, Lingwei Zhang, Linzhu Yue, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-07T07:41:47Z","title":"Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.04494","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":"sha256:1b3e39019ff9c7e2a8cc24c22b51a6531a71ebd4bd0de45ccc42fe0d2e688ceb","target":"record","created_at":"2026-07-05T09:33:40Z","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":"9d8db17fd37c2e96de1d4adcc3dc72d57e0bd8efa2edc8762096a065a9a2e5c8","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-07T07:41:47Z","title_canon_sha256":"c94205bcb32c947c67ada71d7c1a9d4be339526c47962698c518ee3f603bf60b"},"schema_version":"1.0","source":{"id":"2411.04494","kind":"arxiv","version":2}},"canonical_sha256":"a0efbaac9785d9a78dbae2b5d5f1d0b10441228255f7ad9efd584915d465281e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a0efbaac9785d9a78dbae2b5d5f1d0b10441228255f7ad9efd584915d465281e","first_computed_at":"2026-07-05T09:33:40.691234Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:33:40.691234Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hsC/KIOhfhZ4MKqtSBqFjTjol4JuPWGFV1pQFZaAR/+asL7km7o7yAl2JGgJx3y7Yw5hrcHLgmcMigAHGjEqBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:33:40.691748Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.04494","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1b3e39019ff9c7e2a8cc24c22b51a6531a71ebd4bd0de45ccc42fe0d2e688ceb","sha256:763cb5aca2e527fdab24c0a4f66ceb0f2306a0a403a6f1eb0f2a821461c558cd"],"state_sha256":"2233f7d6330e5f98827ecf3cfe8c7f46e5bf4468cd8bd250877870a522378de7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gZJgBFKg1rrckNs/Cc3L95DG81fPdC2BTenUdXaSFGVdoXvnfXD+ui3f/cQ9wQ844hepDAOx8ZmQ9bAuz4GTAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T05:16:50.598018Z","bundle_sha256":"b13e0318b57519038212c79a6443e8fb43c79b358c6e8c8c05d8e01a951f8710"}}