{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:VMJBDM2SV5LKSJGTNJWDM4F2DT","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":"76fea41eb911eaf0d496bbd856393e9fea7a5ba260a2b18cfb447228015118a1","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-25T21:13:44Z","title_canon_sha256":"1a830b89a1dd825f0bff9a43afc735e0d66819f80ddd0e24273077ee7cc98264"},"schema_version":"1.0","source":{"id":"2504.18698","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.18698","created_at":"2026-07-05T10:54:19Z"},{"alias_kind":"arxiv_version","alias_value":"2504.18698v1","created_at":"2026-07-05T10:54:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.18698","created_at":"2026-07-05T10:54:19Z"},{"alias_kind":"pith_short_12","alias_value":"VMJBDM2SV5LK","created_at":"2026-07-05T10:54:19Z"},{"alias_kind":"pith_short_16","alias_value":"VMJBDM2SV5LKSJGT","created_at":"2026-07-05T10:54:19Z"},{"alias_kind":"pith_short_8","alias_value":"VMJBDM2S","created_at":"2026-07-05T10:54:19Z"}],"graph_snapshots":[{"event_id":"sha256:ebf562f64d15887f65a96a179ab052d22c1723be0a866edba5e98efefd272b44","target":"graph","created_at":"2026-07-05T10:54:19Z","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/2504.18698/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive controller determining: foot placement, step timing, and ankle control. The proposed reduced-order model is an augmented Linear Inverted Pendulum model with zero moment point coordinates; this is integrated within a model predictive control framework for robust stabilization under external disturbances. By explicitly leveraging the hybrid dynamics of locomotion,","authors_text":"Aaron D. Ames, Min Dai","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-25T21:13:44Z","title":"Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.18698","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":"sha256:8e04406753dba1370424779a02771b8812461c67f805e0d7ce5930f18cfd7c72","target":"record","created_at":"2026-07-05T10:54:19Z","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":"76fea41eb911eaf0d496bbd856393e9fea7a5ba260a2b18cfb447228015118a1","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-25T21:13:44Z","title_canon_sha256":"1a830b89a1dd825f0bff9a43afc735e0d66819f80ddd0e24273077ee7cc98264"},"schema_version":"1.0","source":{"id":"2504.18698","kind":"arxiv","version":1}},"canonical_sha256":"ab1211b352af56a924d36a6c3670ba1cf8543f6e3a778f631d20e14b09903cb6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ab1211b352af56a924d36a6c3670ba1cf8543f6e3a778f631d20e14b09903cb6","first_computed_at":"2026-07-05T10:54:19.374512Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:54:19.374512Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i7l9msyUh/tsTESYwiLm9i2wXJkINcKEbAf3xqFqzHegSfrysaAybXg57jgemY4dcf9CullS1iFk6/KkN2PCAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:54:19.375131Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.18698","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8e04406753dba1370424779a02771b8812461c67f805e0d7ce5930f18cfd7c72","sha256:ebf562f64d15887f65a96a179ab052d22c1723be0a866edba5e98efefd272b44"],"state_sha256":"c5eaea6c6984a259cf86d0767800fada2f3a47de2a558d8c534efe0f4f590b8b"}