{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:VYQMSMB5RRPTJ3YYVJTZX2CNQP","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":"8eae8af2cb8c9438401cb868d1ec2659fa1dfd24edc59d7e988530628222d882","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-13T18:25:44Z","title_canon_sha256":"8952eee131519166520a40a7a22c6be5a1a76d91f11dafa3c75196c7b3c92a1c"},"schema_version":"1.0","source":{"id":"2306.08063","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.08063","created_at":"2026-07-05T06:20:47Z"},{"alias_kind":"arxiv_version","alias_value":"2306.08063v1","created_at":"2026-07-05T06:20:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.08063","created_at":"2026-07-05T06:20:47Z"},{"alias_kind":"pith_short_12","alias_value":"VYQMSMB5RRPT","created_at":"2026-07-05T06:20:47Z"},{"alias_kind":"pith_short_16","alias_value":"VYQMSMB5RRPTJ3YY","created_at":"2026-07-05T06:20:47Z"},{"alias_kind":"pith_short_8","alias_value":"VYQMSMB5","created_at":"2026-07-05T06:20:47Z"}],"graph_snapshots":[{"event_id":"sha256:c647dcb78b4a5d47912d0fce60df15dc3007ab72912adad9f853344a2811386e","target":"graph","created_at":"2026-07-05T06:20:47Z","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/2306.08063/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal with sinkage and maintain stability without falling. In this study, we are proposing a Deep Deterministic Policy Gradient (DDPG) approach for motion control of a flat-foot biped robot walking on deformable terrain. We have considered a 7-link biped robot for our proposed approach. For soft soil terrain modeling, we have considered triangular Mesh to describe","authors_text":"Gaurav Bhardwaj, N. Sukavanam, R. Balasubramanian, Soham Dasgupta","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-13T18:25:44Z","title":"Soft Soil Gait Planning and Control for Biped Robot using Deep Deterministic Policy Gradient Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.08063","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:f3e92d2d94a65436fa77ed7b5c040f09f34d7a1e7adf7fda793190bf6b2164f6","target":"record","created_at":"2026-07-05T06:20:47Z","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":"8eae8af2cb8c9438401cb868d1ec2659fa1dfd24edc59d7e988530628222d882","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-13T18:25:44Z","title_canon_sha256":"8952eee131519166520a40a7a22c6be5a1a76d91f11dafa3c75196c7b3c92a1c"},"schema_version":"1.0","source":{"id":"2306.08063","kind":"arxiv","version":1}},"canonical_sha256":"ae20c9303d8c5f34ef18aa679be84d83e972ca9b5f47c2b608f3298e5dbfc6f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ae20c9303d8c5f34ef18aa679be84d83e972ca9b5f47c2b608f3298e5dbfc6f9","first_computed_at":"2026-07-05T06:20:47.377676Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:20:47.377676Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cftkdjBwPqqGGZQjcLxJmGdJ5QDvDer+RXmx9H2S4qsWmKBrmOAh5erZit6aQmjMpQKi0zcTEmiuv4YaPWPoAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:20:47.378152Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.08063","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f3e92d2d94a65436fa77ed7b5c040f09f34d7a1e7adf7fda793190bf6b2164f6","sha256:c647dcb78b4a5d47912d0fce60df15dc3007ab72912adad9f853344a2811386e"],"state_sha256":"eb4501c963469582b3480d06e6aeac56fbdc66cdd9a701ca61d7d68d9f831571"}