{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:UIPNWOCIMDNOVKXTIRZ2S4C2O6","short_pith_number":"pith:UIPNWOCI","canonical_record":{"source":{"id":"2110.00891","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-02T23:19:36Z","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"title_canon_sha256":"b122b47a443e80c283fb8a6d7a2158cc3602568782a292dd13b53178f48d787a","abstract_canon_sha256":"d3d92f85229427b98aaed50723e9e06fa9f1781bfed3786f6de9d047fecf42a5"},"schema_version":"1.0"},"canonical_sha256":"a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f","source":{"kind":"arxiv","id":"2110.00891","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.00891","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"arxiv_version","alias_value":"2110.00891v2","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.00891","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_12","alias_value":"UIPNWOCIMDNO","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_16","alias_value":"UIPNWOCIMDNOVKXT","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_8","alias_value":"UIPNWOCI","created_at":"2026-07-05T04:01:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:UIPNWOCIMDNOVKXTIRZ2S4C2O6","target":"record","payload":{"canonical_record":{"source":{"id":"2110.00891","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-02T23:19:36Z","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"title_canon_sha256":"b122b47a443e80c283fb8a6d7a2158cc3602568782a292dd13b53178f48d787a","abstract_canon_sha256":"d3d92f85229427b98aaed50723e9e06fa9f1781bfed3786f6de9d047fecf42a5"},"schema_version":"1.0"},"canonical_sha256":"a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:01:57.041598Z","signature_b64":"Gbqi+vca66EHJfPLKAG+KQ0yKFPb4cLxfYi3ssO7mnoeLlURVKPJRvdez5AEVfVhar0/czEO1GgBQ5zXduoIAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f","last_reissued_at":"2026-07-05T04:01:57.041146Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:01:57.041146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.00891","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":"2026-07-05T04:01:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CWyDEtWIPnpwFeNldvVgRrgtZnt9TaBvZdGSfy/+5YL/jpd6QDkmkC/eoy1F4d0/3ZROrn+h/ezCfCtNqf3VAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T13:05:27.015915Z"},"content_sha256":"93fc4fc1eb81471436c08c41abb1ec4b8885b546c1e4a6d4933358a417b79bc9","schema_version":"1.0","event_id":"sha256:93fc4fc1eb81471436c08c41abb1ec4b8885b546c1e4a6d4933358a417b79bc9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:UIPNWOCIMDNOVKXTIRZ2S4C2O6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY","math.OC"],"primary_cat":"cs.RO","authors_text":"Akshara Rai, Ayush Agrawal, Koushil Sreenath, Shuxiao Chen","submitted_at":"2021-10-02T23:19:36Z","abstract_excerpt":"In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds because the motion of the robot can be aperiodic, highly dynamic, and blind for the hind legs of the robot. Additionally, the robot needs to reason over both the feasible footholds as well as robot velocity by speeding up and slowing down at different parts of the terrain. We build an offline library of periodic gaits which span two trotting steps on the robo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.00891","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/2110.00891/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":"2026-07-05T04:01:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JJBZXdC4KI/PcXIulC8/eVyye09/OmiTT5kkDuooX6R9npa+Aq/cgwj5P7wv4BbcR5psf9N/JausxlN1viq5Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-10T13:05:27.016335Z"},"content_sha256":"07fe09d9b58e70d91aabf51c9b38bb168ba2ac0bff9b7778ff35782911d6029d","schema_version":"1.0","event_id":"sha256:07fe09d9b58e70d91aabf51c9b38bb168ba2ac0bff9b7778ff35782911d6029d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/bundle.json","state_url":"https://pith.science/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/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":"2026-07-10T13:05:27Z","links":{"resolver":"https://pith.science/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6","bundle":"https://pith.science/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/bundle.json","state":"https://pith.science/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UIPNWOCIMDNOVKXTIRZ2S4C2O6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:UIPNWOCIMDNOVKXTIRZ2S4C2O6","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":"d3d92f85229427b98aaed50723e9e06fa9f1781bfed3786f6de9d047fecf42a5","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-02T23:19:36Z","title_canon_sha256":"b122b47a443e80c283fb8a6d7a2158cc3602568782a292dd13b53178f48d787a"},"schema_version":"1.0","source":{"id":"2110.00891","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.00891","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"arxiv_version","alias_value":"2110.00891v2","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.00891","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_12","alias_value":"UIPNWOCIMDNO","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_16","alias_value":"UIPNWOCIMDNOVKXT","created_at":"2026-07-05T04:01:57Z"},{"alias_kind":"pith_short_8","alias_value":"UIPNWOCI","created_at":"2026-07-05T04:01:57Z"}],"graph_snapshots":[{"event_id":"sha256:07fe09d9b58e70d91aabf51c9b38bb168ba2ac0bff9b7778ff35782911d6029d","target":"graph","created_at":"2026-07-05T04:01:57Z","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/2110.00891/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds because the motion of the robot can be aperiodic, highly dynamic, and blind for the hind legs of the robot. Additionally, the robot needs to reason over both the feasible footholds as well as robot velocity by speeding up and slowing down at different parts of the terrain. We build an offline library of periodic gaits which span two trotting steps on the robo","authors_text":"Akshara Rai, Ayush Agrawal, Koushil Sreenath, Shuxiao Chen","cross_cats":["cs.SY","eess.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-02T23:19:36Z","title":"Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.00891","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":"sha256:93fc4fc1eb81471436c08c41abb1ec4b8885b546c1e4a6d4933358a417b79bc9","target":"record","created_at":"2026-07-05T04:01:57Z","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":"d3d92f85229427b98aaed50723e9e06fa9f1781bfed3786f6de9d047fecf42a5","cross_cats_sorted":["cs.SY","eess.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-02T23:19:36Z","title_canon_sha256":"b122b47a443e80c283fb8a6d7a2158cc3602568782a292dd13b53178f48d787a"},"schema_version":"1.0","source":{"id":"2110.00891","kind":"arxiv","version":2}},"canonical_sha256":"a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f","first_computed_at":"2026-07-05T04:01:57.041146Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:01:57.041146Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Gbqi+vca66EHJfPLKAG+KQ0yKFPb4cLxfYi3ssO7mnoeLlURVKPJRvdez5AEVfVhar0/czEO1GgBQ5zXduoIAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:01:57.041598Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.00891","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:93fc4fc1eb81471436c08c41abb1ec4b8885b546c1e4a6d4933358a417b79bc9","sha256:07fe09d9b58e70d91aabf51c9b38bb168ba2ac0bff9b7778ff35782911d6029d"],"state_sha256":"9ed4bff797ac762683e115bbd814a7ae91a469f599a0fa1fec3fd1592c79679c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KnnIm0jY46TYchddYKwwoY97QEOix1TESKjw3/sfcBZgCp0hwHnQWBJ+D2bE5l6KIjB6Rwmc5GjITj6F5ljhDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-10T13:05:27.018375Z","bundle_sha256":"20a236b64a680c84ca978e407c15d96c2cdcd6c619d7dbd36c66ff0575260473"}}