{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:XPFPDRF76ZHEYOEKTTUDW4UWHV","short_pith_number":"pith:XPFPDRF7","canonical_record":{"source":{"id":"2607.06186","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T12:10:44Z","cross_cats_sorted":[],"title_canon_sha256":"3f30ee040a3850eb1526772ade34af7ab5725019d57baf2ab33c3518b792bfd0","abstract_canon_sha256":"5e5e8b1b9ca33251bcfe332f7bd20675c9ab4c45d0e83a0b16da8b97c899b8bc"},"schema_version":"1.0"},"canonical_sha256":"bbcaf1c4bff64e4c388a9ce83b72963d5895ef1e9211b4aa02597ed879d0246e","source":{"kind":"arxiv","id":"2607.06186","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06186","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06186v1","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06186","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_12","alias_value":"XPFPDRF76ZHE","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_16","alias_value":"XPFPDRF76ZHEYOEK","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_8","alias_value":"XPFPDRF7","created_at":"2026-07-08T01:19:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:XPFPDRF76ZHEYOEKTTUDW4UWHV","target":"record","payload":{"canonical_record":{"source":{"id":"2607.06186","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T12:10:44Z","cross_cats_sorted":[],"title_canon_sha256":"3f30ee040a3850eb1526772ade34af7ab5725019d57baf2ab33c3518b792bfd0","abstract_canon_sha256":"5e5e8b1b9ca33251bcfe332f7bd20675c9ab4c45d0e83a0b16da8b97c899b8bc"},"schema_version":"1.0"},"canonical_sha256":"bbcaf1c4bff64e4c388a9ce83b72963d5895ef1e9211b4aa02597ed879d0246e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-08T01:19:16.961286Z","signature_b64":"mpepxNw85JmlQcm9usjnOpYLKtetmLl9af1Qf0+1n8vdxgXZhlIbMsqYHjPTOM92wj1fJ3j3bD2oBSfqmXv4Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bbcaf1c4bff64e4c388a9ce83b72963d5895ef1e9211b4aa02597ed879d0246e","last_reissued_at":"2026-07-08T01:19:16.960639Z","signature_status":"signed_v1","first_computed_at":"2026-07-08T01:19:16.960639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.06186","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":"2026-07-08T01:19:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qjqPkhapTBgb02fhVOfnZ16hX2ifPsm2mkADJrCoK2Ng88HMCB1hEzI+pqYUjvrUHKlkUHI2XQXGarS619IoDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T17:51:38.117934Z"},"content_sha256":"818f4138a74b9ff20c4e0a1221e4bd0e241533d1980429daf9b9742f2a279a51","schema_version":"1.0","event_id":"sha256:818f4138a74b9ff20c4e0a1221e4bd0e241533d1980429daf9b9742f2a279a51"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:XPFPDRF76ZHEYOEKTTUDW4UWHV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengxu Zhou, Chipui Chan, Jingcheng Sun, Yan Pan, Yuanchuan Ren","submitted_at":"2026-07-07T12:10:44Z","abstract_excerpt":"Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits high and usually carries a single arm; using the legs as manipulators lifts the manipulating leg off the ground; and even leg-mounted grippers reach two-handed tasks only by rearing onto the hind legs. This paper integrates a manipulator with a prismatic slider, two revolute joints, and a gripper into each front calf of a Unitree Go2. The two arms grasp objects at ground level and manipulate with both hands while all four feet stay planted, without rearing. With one arm carrying, the"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06186","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/2607.06186/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":"2026-07-08T01:19:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xZIwRIXoIPePVg7TvGxXJNVhgmP3wMO7We6lX6kRIF9FdYDIZODAgloPH6Jvdqh+2Y6+jnD/r2rTIt+AhHmrAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T17:51:38.118306Z"},"content_sha256":"90d9841852faa0cba6fba3e669c74edd264a40dd271ec9284e26e2c9f0e06f3a","schema_version":"1.0","event_id":"sha256:90d9841852faa0cba6fba3e669c74edd264a40dd271ec9284e26e2c9f0e06f3a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/bundle.json","state_url":"https://pith.science/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/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":"2026-08-22T17:51:38Z","links":{"resolver":"https://pith.science/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV","bundle":"https://pith.science/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/bundle.json","state":"https://pith.science/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XPFPDRF76ZHEYOEKTTUDW4UWHV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XPFPDRF76ZHEYOEKTTUDW4UWHV","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":"5e5e8b1b9ca33251bcfe332f7bd20675c9ab4c45d0e83a0b16da8b97c899b8bc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T12:10:44Z","title_canon_sha256":"3f30ee040a3850eb1526772ade34af7ab5725019d57baf2ab33c3518b792bfd0"},"schema_version":"1.0","source":{"id":"2607.06186","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06186","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06186v1","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06186","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_12","alias_value":"XPFPDRF76ZHE","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_16","alias_value":"XPFPDRF76ZHEYOEK","created_at":"2026-07-08T01:19:16Z"},{"alias_kind":"pith_short_8","alias_value":"XPFPDRF7","created_at":"2026-07-08T01:19:16Z"}],"graph_snapshots":[{"event_id":"sha256:90d9841852faa0cba6fba3e669c74edd264a40dd271ec9284e26e2c9f0e06f3a","target":"graph","created_at":"2026-07-08T01:19:16Z","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/2607.06186/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits high and usually carries a single arm; using the legs as manipulators lifts the manipulating leg off the ground; and even leg-mounted grippers reach two-handed tasks only by rearing onto the hind legs. This paper integrates a manipulator with a prismatic slider, two revolute joints, and a gripper into each front calf of a Unitree Go2. The two arms grasp objects at ground level and manipulate with both hands while all four feet stay planted, without rearing. With one arm carrying, the","authors_text":"Chengxu Zhou, Chipui Chan, Jingcheng Sun, Yan Pan, Yuanchuan Ren","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T12:10:44Z","title":"Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06186","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":"sha256:818f4138a74b9ff20c4e0a1221e4bd0e241533d1980429daf9b9742f2a279a51","target":"record","created_at":"2026-07-08T01:19:16Z","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":"5e5e8b1b9ca33251bcfe332f7bd20675c9ab4c45d0e83a0b16da8b97c899b8bc","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T12:10:44Z","title_canon_sha256":"3f30ee040a3850eb1526772ade34af7ab5725019d57baf2ab33c3518b792bfd0"},"schema_version":"1.0","source":{"id":"2607.06186","kind":"arxiv","version":1}},"canonical_sha256":"bbcaf1c4bff64e4c388a9ce83b72963d5895ef1e9211b4aa02597ed879d0246e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bbcaf1c4bff64e4c388a9ce83b72963d5895ef1e9211b4aa02597ed879d0246e","first_computed_at":"2026-07-08T01:19:16.960639Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-08T01:19:16.960639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mpepxNw85JmlQcm9usjnOpYLKtetmLl9af1Qf0+1n8vdxgXZhlIbMsqYHjPTOM92wj1fJ3j3bD2oBSfqmXv4Bw==","signature_status":"signed_v1","signed_at":"2026-07-08T01:19:16.961286Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.06186","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:818f4138a74b9ff20c4e0a1221e4bd0e241533d1980429daf9b9742f2a279a51","sha256:90d9841852faa0cba6fba3e669c74edd264a40dd271ec9284e26e2c9f0e06f3a"],"state_sha256":"3490b87f70a8adc25c10a78c0608a89a684f5af0dce5a3283c3e188c645af467"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WGBAd0cTUEdYlYwYK4l9mYebJAekqNoP2hdGRd/aDuTBr9F62P+2j9sLcd6qUc5hFxoJNqX2+LiXeSoT8nL1BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T17:51:38.120895Z","bundle_sha256":"cf0464216cc8a4b33635142656038afb38b603b20feec9cba0dd1819b375ea4d"}}