{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:WDDI2EKZ5UHCI44F7DA23NAWNL","short_pith_number":"pith:WDDI2EKZ","canonical_record":{"source":{"id":"2103.14295","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:14:01Z","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"14da9c075d0197d4e01075a8d1f9586ed8d5c607e45fcc485d53d3df9eafe598","abstract_canon_sha256":"2ee317e208660c37d84a80a8a02cd61c9137b2f2abe4afc74f1addeec771dfe1"},"schema_version":"1.0"},"canonical_sha256":"b0c68d1159ed0e247385f8c1adb4166ad4a35e5376858e7dc26c8e2d32b39c1a","source":{"kind":"arxiv","id":"2103.14295","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14295","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14295v1","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14295","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_12","alias_value":"WDDI2EKZ5UHC","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_16","alias_value":"WDDI2EKZ5UHCI44F","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_8","alias_value":"WDDI2EKZ","created_at":"2026-07-05T02:26:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:WDDI2EKZ5UHCI44F7DA23NAWNL","target":"record","payload":{"canonical_record":{"source":{"id":"2103.14295","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:14:01Z","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"14da9c075d0197d4e01075a8d1f9586ed8d5c607e45fcc485d53d3df9eafe598","abstract_canon_sha256":"2ee317e208660c37d84a80a8a02cd61c9137b2f2abe4afc74f1addeec771dfe1"},"schema_version":"1.0"},"canonical_sha256":"b0c68d1159ed0e247385f8c1adb4166ad4a35e5376858e7dc26c8e2d32b39c1a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:26:32.563397Z","signature_b64":"1r3CwTewFpN5/ATASmoRTdhNtdWjGUPL0LSvtwhiq7jd2MFBK8QXwqfd7dgBtRA2NqEy38HwDij0J7B98PwHBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b0c68d1159ed0e247385f8c1adb4166ad4a35e5376858e7dc26c8e2d32b39c1a","last_reissued_at":"2026-07-05T02:26:32.562917Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:26:32.562917Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.14295","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":"2026-07-05T02:26:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q1r9gAFyKq3+5lvm/CErLQLMz3abi955R1uWTdiQBC+5Q2F6F3/6PekIhAE+PuLofTdVpwcXqHTPJa6j6JX5Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:44:42.882224Z"},"content_sha256":"c14c08636cc343fe93b5b4b429f3fe3febacc65466a4130f8872d8621a1b8723","schema_version":"1.0","event_id":"sha256:c14c08636cc343fe93b5b4b429f3fe3febacc65466a4130f8872d8621a1b8723"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:WDDI2EKZ5UHCI44F7DA23NAWNL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Glen Berseth, Koushil Sreenath, Pieter Abbeel, Sergey Levine, Xue Bin Peng, Xuxin Cheng, Zhongyu Li","submitted_at":"2021-03-26T07:14:01Z","abstract_excerpt":"Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To address these challenges for bipedal locomotion, we present a model-free reinforcement learning framework for training robust locomotion policies in simulation, which can then be transferred to a real bipedal Cassie robot. To facilitate sim-to-real transfer, domain randomization is used to encourage the policies to learn behaviors that are robust across variat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14295","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/2103.14295/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":"2026-07-05T02:26:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"srvul7RU/at31pQXgce527gymOAzhi+PIIKxANhw0om9kwp+j3G57pkcpa36jEW6SVbrLqDNAYaGMnL6LGcsDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T04:44:42.882863Z"},"content_sha256":"a5f97e5fe749d1093462770c83c490840ac93b26e617c29be152ca1eadf9981a","schema_version":"1.0","event_id":"sha256:a5f97e5fe749d1093462770c83c490840ac93b26e617c29be152ca1eadf9981a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/bundle.json","state_url":"https://pith.science/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/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":"2026-08-07T04:44:42Z","links":{"resolver":"https://pith.science/pith/WDDI2EKZ5UHCI44F7DA23NAWNL","bundle":"https://pith.science/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/bundle.json","state":"https://pith.science/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WDDI2EKZ5UHCI44F7DA23NAWNL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:WDDI2EKZ5UHCI44F7DA23NAWNL","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":"2ee317e208660c37d84a80a8a02cd61c9137b2f2abe4afc74f1addeec771dfe1","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:14:01Z","title_canon_sha256":"14da9c075d0197d4e01075a8d1f9586ed8d5c607e45fcc485d53d3df9eafe598"},"schema_version":"1.0","source":{"id":"2103.14295","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.14295","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"arxiv_version","alias_value":"2103.14295v1","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.14295","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_12","alias_value":"WDDI2EKZ5UHC","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_16","alias_value":"WDDI2EKZ5UHCI44F","created_at":"2026-07-05T02:26:32Z"},{"alias_kind":"pith_short_8","alias_value":"WDDI2EKZ","created_at":"2026-07-05T02:26:32Z"}],"graph_snapshots":[{"event_id":"sha256:a5f97e5fe749d1093462770c83c490840ac93b26e617c29be152ca1eadf9981a","target":"graph","created_at":"2026-07-05T02:26:32Z","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/2103.14295/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To address these challenges for bipedal locomotion, we present a model-free reinforcement learning framework for training robust locomotion policies in simulation, which can then be transferred to a real bipedal Cassie robot. To facilitate sim-to-real transfer, domain randomization is used to encourage the policies to learn behaviors that are robust across variat","authors_text":"Glen Berseth, Koushil Sreenath, Pieter Abbeel, Sergey Levine, Xue Bin Peng, Xuxin Cheng, Zhongyu Li","cross_cats":["cs.AI","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:14:01Z","title":"Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.14295","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:c14c08636cc343fe93b5b4b429f3fe3febacc65466a4130f8872d8621a1b8723","target":"record","created_at":"2026-07-05T02:26:32Z","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":"2ee317e208660c37d84a80a8a02cd61c9137b2f2abe4afc74f1addeec771dfe1","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-26T07:14:01Z","title_canon_sha256":"14da9c075d0197d4e01075a8d1f9586ed8d5c607e45fcc485d53d3df9eafe598"},"schema_version":"1.0","source":{"id":"2103.14295","kind":"arxiv","version":1}},"canonical_sha256":"b0c68d1159ed0e247385f8c1adb4166ad4a35e5376858e7dc26c8e2d32b39c1a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b0c68d1159ed0e247385f8c1adb4166ad4a35e5376858e7dc26c8e2d32b39c1a","first_computed_at":"2026-07-05T02:26:32.562917Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:26:32.562917Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1r3CwTewFpN5/ATASmoRTdhNtdWjGUPL0LSvtwhiq7jd2MFBK8QXwqfd7dgBtRA2NqEy38HwDij0J7B98PwHBA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:26:32.563397Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.14295","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c14c08636cc343fe93b5b4b429f3fe3febacc65466a4130f8872d8621a1b8723","sha256:a5f97e5fe749d1093462770c83c490840ac93b26e617c29be152ca1eadf9981a"],"state_sha256":"0eca2c35218f503ba1aad69af84993b529b05dd1193ba8e2c645ce249b3e431c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V9wdEVwPSTIhMWFzSmj9d7GGozIYpG/RXQqchKu5YMDLNivI5jF/RmohBONqELoVjaF81fjBRvlARM6sZFX8Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T04:44:42.893755Z","bundle_sha256":"5b1ba814b11bb42de9957ce85be3fc5a5fa2de9d2c2e4e9d46c5e08bbd4fa618"}}