{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:VAJFMN55LBMNK432HGSSSHHWKY","short_pith_number":"pith:VAJFMN55","canonical_record":{"source":{"id":"2502.16230","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-22T13:57:56Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"b55571f003927de40954c94150317da80e2c66e52ccaae3111de7d6e8ed309a7","abstract_canon_sha256":"149ab252e469f63d712ca84ca236f9115a210064ddb01e3303bd0cae610a04b9"},"schema_version":"1.0"},"canonical_sha256":"a8125637bd5858d5737a39a5291cf6561be8450b50520dc4d5b30f8618c4d5c4","source":{"kind":"arxiv","id":"2502.16230","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.16230","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"arxiv_version","alias_value":"2502.16230v1","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.16230","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_12","alias_value":"VAJFMN55LBMN","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_16","alias_value":"VAJFMN55LBMNK432","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_8","alias_value":"VAJFMN55","created_at":"2026-07-05T10:18:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:VAJFMN55LBMNK432HGSSSHHWKY","target":"record","payload":{"canonical_record":{"source":{"id":"2502.16230","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-22T13:57:56Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"b55571f003927de40954c94150317da80e2c66e52ccaae3111de7d6e8ed309a7","abstract_canon_sha256":"149ab252e469f63d712ca84ca236f9115a210064ddb01e3303bd0cae610a04b9"},"schema_version":"1.0"},"canonical_sha256":"a8125637bd5858d5737a39a5291cf6561be8450b50520dc4d5b30f8618c4d5c4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:18:23.545015Z","signature_b64":"jqcR255mQmFPK4xM+VQa4u/fsMHdd01Baf9V3s40wlzWyWZ4GRkmfznHoyV29ZzvR8tfpZNpCD0k5hYp7+r+CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a8125637bd5858d5737a39a5291cf6561be8450b50520dc4d5b30f8618c4d5c4","last_reissued_at":"2026-07-05T10:18:23.544543Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:18:23.544543Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.16230","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":"2026-07-05T10:18:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qAh7w8+6zvPVnVmSdT7zdRTkQDyt7Alvd7uwpAtCwuFKkfcQaiEb5L+bOeYUFwAUn6LsIdEWoPnqDgfvK2JcDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T10:40:05.835767Z"},"content_sha256":"af369ee2e9a0b142d6abc45191c43866837dff539b4d70371c36cadbc98dc4ba","schema_version":"1.0","event_id":"sha256:af369ee2e9a0b142d6abc45191c43866837dff539b4d70371c36cadbc98dc4ba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:VAJFMN55LBMNK432HGSSSHHWKY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Humanoid Locomotion with World Model Reconstruction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Baoshi Cao, Long Chen, Wandong Sun, Yang Liu, Yongbo Su, Zongwu Xie","submitted_at":"2025-02-22T13:57:56Z","abstract_excerpt":"Humanoid robots are designed to navigate environments accessible to humans using their legs. However, classical research has primarily focused on controlled laboratory settings, resulting in a gap in developing controllers for navigating complex real-world terrains. This challenge mainly arises from the limitations and noise in sensor data, which hinder the robot's understanding of itself and the environment. In this study, we introduce World Model Reconstruction (WMR), an end-to-end learning-based approach for blind humanoid locomotion across challenging terrains. We propose training an estim"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.16230","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/2502.16230/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":"2026-07-05T10:18:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3WoeubWXOJ1E8h7w0sRKrYqmueUk9YiztAKH3vu0+uaGuZC5KFPvjjzaprJ9/NfMEz07UkyZXMo9krqL8KVHDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T10:40:05.836385Z"},"content_sha256":"0a405ee9be9a3aef62c143af4b94bf638d4a45c459f2e9d742053e49bdb39e6a","schema_version":"1.0","event_id":"sha256:0a405ee9be9a3aef62c143af4b94bf638d4a45c459f2e9d742053e49bdb39e6a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VAJFMN55LBMNK432HGSSSHHWKY/bundle.json","state_url":"https://pith.science/pith/VAJFMN55LBMNK432HGSSSHHWKY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VAJFMN55LBMNK432HGSSSHHWKY/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":"2026-08-18T10:40:05Z","links":{"resolver":"https://pith.science/pith/VAJFMN55LBMNK432HGSSSHHWKY","bundle":"https://pith.science/pith/VAJFMN55LBMNK432HGSSSHHWKY/bundle.json","state":"https://pith.science/pith/VAJFMN55LBMNK432HGSSSHHWKY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VAJFMN55LBMNK432HGSSSHHWKY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:VAJFMN55LBMNK432HGSSSHHWKY","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":"149ab252e469f63d712ca84ca236f9115a210064ddb01e3303bd0cae610a04b9","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-22T13:57:56Z","title_canon_sha256":"b55571f003927de40954c94150317da80e2c66e52ccaae3111de7d6e8ed309a7"},"schema_version":"1.0","source":{"id":"2502.16230","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.16230","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"arxiv_version","alias_value":"2502.16230v1","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.16230","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_12","alias_value":"VAJFMN55LBMN","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_16","alias_value":"VAJFMN55LBMNK432","created_at":"2026-07-05T10:18:23Z"},{"alias_kind":"pith_short_8","alias_value":"VAJFMN55","created_at":"2026-07-05T10:18:23Z"}],"graph_snapshots":[{"event_id":"sha256:0a405ee9be9a3aef62c143af4b94bf638d4a45c459f2e9d742053e49bdb39e6a","target":"graph","created_at":"2026-07-05T10:18:23Z","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/2502.16230/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humanoid robots are designed to navigate environments accessible to humans using their legs. However, classical research has primarily focused on controlled laboratory settings, resulting in a gap in developing controllers for navigating complex real-world terrains. This challenge mainly arises from the limitations and noise in sensor data, which hinder the robot's understanding of itself and the environment. In this study, we introduce World Model Reconstruction (WMR), an end-to-end learning-based approach for blind humanoid locomotion across challenging terrains. We propose training an estim","authors_text":"Baoshi Cao, Long Chen, Wandong Sun, Yang Liu, Yongbo Su, Zongwu Xie","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-22T13:57:56Z","title":"Learning Humanoid Locomotion with World Model Reconstruction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.16230","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:af369ee2e9a0b142d6abc45191c43866837dff539b4d70371c36cadbc98dc4ba","target":"record","created_at":"2026-07-05T10:18:23Z","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":"149ab252e469f63d712ca84ca236f9115a210064ddb01e3303bd0cae610a04b9","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-22T13:57:56Z","title_canon_sha256":"b55571f003927de40954c94150317da80e2c66e52ccaae3111de7d6e8ed309a7"},"schema_version":"1.0","source":{"id":"2502.16230","kind":"arxiv","version":1}},"canonical_sha256":"a8125637bd5858d5737a39a5291cf6561be8450b50520dc4d5b30f8618c4d5c4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a8125637bd5858d5737a39a5291cf6561be8450b50520dc4d5b30f8618c4d5c4","first_computed_at":"2026-07-05T10:18:23.544543Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:18:23.544543Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jqcR255mQmFPK4xM+VQa4u/fsMHdd01Baf9V3s40wlzWyWZ4GRkmfznHoyV29ZzvR8tfpZNpCD0k5hYp7+r+CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:18:23.545015Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.16230","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:af369ee2e9a0b142d6abc45191c43866837dff539b4d70371c36cadbc98dc4ba","sha256:0a405ee9be9a3aef62c143af4b94bf638d4a45c459f2e9d742053e49bdb39e6a"],"state_sha256":"2adf641fe2b593075d846ee081c4fd5c09cfce4b5334c70ae8aa79c720001238"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6fKptYVFl6dbI9/EKveULx5yG1ANKaVZjetkqSCJwag5Znf72xZhNu1tAUmWDe4uuwknuOUaGTZZtx/LkhfUDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T10:40:05.841150Z","bundle_sha256":"321fe344e66484152b48ac4d0fe63c44b52669f55eb9ce40efe08bdc194ca66d"}}