{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ZH7PX2LA7IGUBY5USFAMSVMD4H","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":"68f9746a1a30b07edb4fcf8acd373052b3ee9b850101209aa3258d022520501f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-30T04:18:09Z","title_canon_sha256":"c6f961a73cad5eb07ffff8ba12e3262da8cfeaa39c06dd7d37f54cefd7a7aa64"},"schema_version":"1.0","source":{"id":"2505.24198","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.24198","created_at":"2026-07-05T11:15:21Z"},{"alias_kind":"arxiv_version","alias_value":"2505.24198v2","created_at":"2026-07-05T11:15:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.24198","created_at":"2026-07-05T11:15:21Z"},{"alias_kind":"pith_short_12","alias_value":"ZH7PX2LA7IGU","created_at":"2026-07-05T11:15:21Z"},{"alias_kind":"pith_short_16","alias_value":"ZH7PX2LA7IGUBY5U","created_at":"2026-07-05T11:15:21Z"},{"alias_kind":"pith_short_8","alias_value":"ZH7PX2LA","created_at":"2026-07-05T11:15:21Z"}],"graph_snapshots":[{"event_id":"sha256:c1da3c3170f01d7490de83b3c1db54dd09796df79afe119d2c82d27b16542060","target":"graph","created_at":"2026-07-05T11:15:21Z","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/2505.24198/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Can your humanoid walk up and hand you a full cup of beer, without spilling a drop? While humanoids are increasingly featured in flashy demos like dancing, delivering packages, traversing rough terrain, fine-grained control during locomotion remains a significant challenge. In particular, stabilizing a filled end-effector (EE) while walking is far from solved, due to a fundamental mismatch in task dynamics: locomotion demands slow-timescale, robust control, whereas EE stabilization requires rapid, high-precision corrections. To address this, we propose SoFTA, a Slow-Fast Two-Agent framework th","authors_text":"Chaoyi Pan, Guanqi He, Guanya Shi, Haoyang Weng, Tairan He, Wenli Xiao, Yitang Li, Yuanhang Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-30T04:18:09Z","title":"Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.24198","kind":"arxiv","version":2},"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":"sha256:249a07b456f46f8cb63adc6c9bf076cfa0ac18969fea119913264dde6021b5fc","target":"record","created_at":"2026-07-05T11:15:21Z","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":"68f9746a1a30b07edb4fcf8acd373052b3ee9b850101209aa3258d022520501f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-30T04:18:09Z","title_canon_sha256":"c6f961a73cad5eb07ffff8ba12e3262da8cfeaa39c06dd7d37f54cefd7a7aa64"},"schema_version":"1.0","source":{"id":"2505.24198","kind":"arxiv","version":2}},"canonical_sha256":"c9fefbe960fa0d40e3b49140c95583e1ed9a3fd06b58c3e6ac2635f61f6037f7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9fefbe960fa0d40e3b49140c95583e1ed9a3fd06b58c3e6ac2635f61f6037f7","first_computed_at":"2026-07-05T11:15:21.663915Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:15:21.663915Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3CwIEEhBcQjRvSpCn2qvhNGixngPiD54vodj40Pmbz30z2Ima5fkwO5+04R44IZP6gJAT48pFdBIat60JGl/Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:15:21.664391Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.24198","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:249a07b456f46f8cb63adc6c9bf076cfa0ac18969fea119913264dde6021b5fc","sha256:c1da3c3170f01d7490de83b3c1db54dd09796df79afe119d2c82d27b16542060"],"state_sha256":"6aa9d1c1668c5f9549f224f631784b5dbf71c5f4fc96032a69d48c30216243de"}