{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:UW63DFKUBGQCKNFJTFIE2IEYVG","short_pith_number":"pith:UW63DFKU","canonical_record":{"source":{"id":"2402.18294","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-28T12:38:49Z","cross_cats_sorted":[],"title_canon_sha256":"b6ff0a4b4bd15220a0329f31129b3da3aec133f17f66537364cf982c113c8504","abstract_canon_sha256":"c9b61dd0a04e039dd288efc7710b4a6b7e439b801c4bb63939a4990ad4338c9c"},"schema_version":"1.0"},"canonical_sha256":"a5bdb1955409a02534a999504d2098a9874aaa59b15d2c6f02f64cff079c3586","source":{"kind":"arxiv","id":"2402.18294","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.18294","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"arxiv_version","alias_value":"2402.18294v4","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.18294","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_12","alias_value":"UW63DFKUBGQC","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_16","alias_value":"UW63DFKUBGQCKNFJ","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_8","alias_value":"UW63DFKU","created_at":"2026-07-05T08:59:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:UW63DFKUBGQCKNFJTFIE2IEYVG","target":"record","payload":{"canonical_record":{"source":{"id":"2402.18294","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-28T12:38:49Z","cross_cats_sorted":[],"title_canon_sha256":"b6ff0a4b4bd15220a0329f31129b3da3aec133f17f66537364cf982c113c8504","abstract_canon_sha256":"c9b61dd0a04e039dd288efc7710b4a6b7e439b801c4bb63939a4990ad4338c9c"},"schema_version":"1.0"},"canonical_sha256":"a5bdb1955409a02534a999504d2098a9874aaa59b15d2c6f02f64cff079c3586","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:59:06.034359Z","signature_b64":"9VFt4phhoHa4dNLVFWRnCeTRwfOgH6ORxcknUhfjvkha3Wo/tmjLaUGxwVX8+hLL45bd0tdGeCDwD3B2mD5SAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a5bdb1955409a02534a999504d2098a9874aaa59b15d2c6f02f64cff079c3586","last_reissued_at":"2026-07-05T08:59:06.033890Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:59:06.033890Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.18294","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:59:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lX7T5J3PuvI0b0tFHxXPx05GwMHCQ8Zdcq3B4yG1kt9/TuFtLUMmmszvfYabR8Sn29f06ZdUZyQ3mVAePfswBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:53:17.734961Z"},"content_sha256":"6f6ebab61f80a1a1c96531f069f3e057059db11c447dd98fc5f8b7b84e887f9f","schema_version":"1.0","event_id":"sha256:6f6ebab61f80a1a1c96531f069f3e057059db11c447dd98fc5f8b7b84e887f9f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:UW63DFKUBGQCKNFJTFIE2IEYVG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Whole-body Humanoid Robot Locomotion with Human Reference","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arthur Zhang, David Yan, Gang Han, Jingkai Sun, Peter Cui, Qiang Zhang, Renjing Xu, Weining Zhang, Wen Zhao, Yijie Guo, Yiqun Duan","submitted_at":"2024-02-28T12:38:49Z","abstract_excerpt":"Recently, humanoid robots have made significant advances in their ability to perform challenging tasks due to the deployment of Reinforcement Learning (RL), however, the inherent complexity of humanoid robots, including the difficulty of designing complicated reward functions and training entire sophisticated systems, still poses a notable challenge. To conquer these challenges, after many iterations and in-depth investigations, we have meticulously developed a full-size humanoid robot, \"Adam\", whose innovative structural design greatly improves the efficiency and effectiveness of the imitatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.18294","kind":"arxiv","version":4},"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/2402.18294/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":"2026-07-05T08:59:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xg28Y9fTyaSXw8Nn/v+tu+rLiyLYwQhBMPHyaEV1jw93g2eBIycvH1Kco4yMZBMZbrHUq8WRkj8VOQx82sJCBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T09:53:17.735590Z"},"content_sha256":"88b36c65d3f7b55ea5a3be0bc388c4de878ca4bb39073a607dd7cb0eeda8b6aa","schema_version":"1.0","event_id":"sha256:88b36c65d3f7b55ea5a3be0bc388c4de878ca4bb39073a607dd7cb0eeda8b6aa"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/bundle.json","state_url":"https://pith.science/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/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":"2026-08-06T09:53:17Z","links":{"resolver":"https://pith.science/pith/UW63DFKUBGQCKNFJTFIE2IEYVG","bundle":"https://pith.science/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/bundle.json","state":"https://pith.science/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UW63DFKUBGQCKNFJTFIE2IEYVG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:UW63DFKUBGQCKNFJTFIE2IEYVG","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":"c9b61dd0a04e039dd288efc7710b4a6b7e439b801c4bb63939a4990ad4338c9c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-28T12:38:49Z","title_canon_sha256":"b6ff0a4b4bd15220a0329f31129b3da3aec133f17f66537364cf982c113c8504"},"schema_version":"1.0","source":{"id":"2402.18294","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.18294","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"arxiv_version","alias_value":"2402.18294v4","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.18294","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_12","alias_value":"UW63DFKUBGQC","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_16","alias_value":"UW63DFKUBGQCKNFJ","created_at":"2026-07-05T08:59:06Z"},{"alias_kind":"pith_short_8","alias_value":"UW63DFKU","created_at":"2026-07-05T08:59:06Z"}],"graph_snapshots":[{"event_id":"sha256:88b36c65d3f7b55ea5a3be0bc388c4de878ca4bb39073a607dd7cb0eeda8b6aa","target":"graph","created_at":"2026-07-05T08:59:06Z","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/2402.18294/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, humanoid robots have made significant advances in their ability to perform challenging tasks due to the deployment of Reinforcement Learning (RL), however, the inherent complexity of humanoid robots, including the difficulty of designing complicated reward functions and training entire sophisticated systems, still poses a notable challenge. To conquer these challenges, after many iterations and in-depth investigations, we have meticulously developed a full-size humanoid robot, \"Adam\", whose innovative structural design greatly improves the efficiency and effectiveness of the imitatio","authors_text":"Arthur Zhang, David Yan, Gang Han, Jingkai Sun, Peter Cui, Qiang Zhang, Renjing Xu, Weining Zhang, Wen Zhao, Yijie Guo, Yiqun Duan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-28T12:38:49Z","title":"Whole-body Humanoid Robot Locomotion with Human Reference"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.18294","kind":"arxiv","version":4},"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":"sha256:6f6ebab61f80a1a1c96531f069f3e057059db11c447dd98fc5f8b7b84e887f9f","target":"record","created_at":"2026-07-05T08:59:06Z","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":"c9b61dd0a04e039dd288efc7710b4a6b7e439b801c4bb63939a4990ad4338c9c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-28T12:38:49Z","title_canon_sha256":"b6ff0a4b4bd15220a0329f31129b3da3aec133f17f66537364cf982c113c8504"},"schema_version":"1.0","source":{"id":"2402.18294","kind":"arxiv","version":4}},"canonical_sha256":"a5bdb1955409a02534a999504d2098a9874aaa59b15d2c6f02f64cff079c3586","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5bdb1955409a02534a999504d2098a9874aaa59b15d2c6f02f64cff079c3586","first_computed_at":"2026-07-05T08:59:06.033890Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:59:06.033890Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9VFt4phhoHa4dNLVFWRnCeTRwfOgH6ORxcknUhfjvkha3Wo/tmjLaUGxwVX8+hLL45bd0tdGeCDwD3B2mD5SAg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:59:06.034359Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.18294","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6f6ebab61f80a1a1c96531f069f3e057059db11c447dd98fc5f8b7b84e887f9f","sha256:88b36c65d3f7b55ea5a3be0bc388c4de878ca4bb39073a607dd7cb0eeda8b6aa"],"state_sha256":"f7711c6d9d7a1d9476965693cb8376d2aa2d6b20dd5c7ce92e1fb4dd678ed3ac"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p5oyn5YHwzgMhi7e3N+4GebZzQboZVL2v02R9OUcCosDAfOPZdyekGEtwJOHu2hg3jwFj/hME8CuFvQT4fcvCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T09:53:17.742147Z","bundle_sha256":"b1a40ef6bed7576e1d2f2c93a70ff68a78b71a9e854c1c9e7b2dca1ade2d6eb7"}}