{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZXNNZRFZHGTN42KATT57BWCHDV","short_pith_number":"pith:ZXNNZRFZ","canonical_record":{"source":{"id":"2409.10469","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T17:01:10Z","cross_cats_sorted":[],"title_canon_sha256":"d4ddec58e53b13637568f3777e795049e11f914876ea303c3c6dbe8ea1adc4be","abstract_canon_sha256":"e5010bb19a8de79e125c7e68ac241ac34e4642e3950944ee50fcd11b8bdd36ac"},"schema_version":"1.0"},"canonical_sha256":"cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b","source":{"kind":"arxiv","id":"2409.10469","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10469","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10469v1","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10469","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_12","alias_value":"ZXNNZRFZHGTN","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_16","alias_value":"ZXNNZRFZHGTN42KA","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_8","alias_value":"ZXNNZRFZ","created_at":"2026-07-05T09:07:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZXNNZRFZHGTN42KATT57BWCHDV","target":"record","payload":{"canonical_record":{"source":{"id":"2409.10469","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T17:01:10Z","cross_cats_sorted":[],"title_canon_sha256":"d4ddec58e53b13637568f3777e795049e11f914876ea303c3c6dbe8ea1adc4be","abstract_canon_sha256":"e5010bb19a8de79e125c7e68ac241ac34e4642e3950944ee50fcd11b8bdd36ac"},"schema_version":"1.0"},"canonical_sha256":"cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:07:40.656962Z","signature_b64":"OHMxzGkVgXCDpWrIG+KgZt6ySYz3l64D6Np4h0S25n8gVlc5KNPu/Un4f5QNaqtZCLMvciyg057V6n2JWQAYBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b","last_reissued_at":"2026-07-05T09:07:40.656322Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:07:40.656322Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.10469","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":"2026-07-05T09:07:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A6c5ZzAfsucAFhfIDVxgrZZ79WsiIDAcugsbYtMczSPnjZN8JYx+7NR/JUPIFRo0zQ4D7B8C6tsyt+B8KHAmDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T04:54:50.194290Z"},"content_sha256":"701b76195c96aae1a216f1fbdf2f42116d046b7618758a430c76aeb495d06fc5","schema_version":"1.0","event_id":"sha256:701b76195c96aae1a216f1fbdf2f42116d046b7618758a430c76aeb495d06fc5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZXNNZRFZHGTN42KATT57BWCHDV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"John M. Dolan, John Z. Zhang, Juan Alvarez-Padilla, Sofia Kwok, Zachary Manchester","submitted_at":"2024-09-16T17:01:10Z","abstract_excerpt":"This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization capabilities of the MuJoCo simulator to achieve fast sampling over the robot state and action trajectories. Our results show surprisingly effective real-world locomotion and manipulation capabilities with a very simple control strategy. We demonstrate our approach on several hardware and simulation experiments: robust locomotion over flat and uneven terrains,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10469","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/2409.10469/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":"2026-07-05T09:07:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Sv5elZnhatV0sowmvDZ2GWPHbGQm82znkqQGCM9TrXkLPZa2NaEGdqjzy5vRrnKnxzQEnTtJtjSaPBxfdw0YBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T04:54:50.195193Z"},"content_sha256":"5cec8ea434b500a7648a7159831d43cab60dd550c69acc6c4cdeb7f64a512f7f","schema_version":"1.0","event_id":"sha256:5cec8ea434b500a7648a7159831d43cab60dd550c69acc6c4cdeb7f64a512f7f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZXNNZRFZHGTN42KATT57BWCHDV/bundle.json","state_url":"https://pith.science/pith/ZXNNZRFZHGTN42KATT57BWCHDV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZXNNZRFZHGTN42KATT57BWCHDV/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":"2026-08-08T04:54:50Z","links":{"resolver":"https://pith.science/pith/ZXNNZRFZHGTN42KATT57BWCHDV","bundle":"https://pith.science/pith/ZXNNZRFZHGTN42KATT57BWCHDV/bundle.json","state":"https://pith.science/pith/ZXNNZRFZHGTN42KATT57BWCHDV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZXNNZRFZHGTN42KATT57BWCHDV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZXNNZRFZHGTN42KATT57BWCHDV","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":"e5010bb19a8de79e125c7e68ac241ac34e4642e3950944ee50fcd11b8bdd36ac","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T17:01:10Z","title_canon_sha256":"d4ddec58e53b13637568f3777e795049e11f914876ea303c3c6dbe8ea1adc4be"},"schema_version":"1.0","source":{"id":"2409.10469","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10469","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10469v1","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10469","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_12","alias_value":"ZXNNZRFZHGTN","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_16","alias_value":"ZXNNZRFZHGTN42KA","created_at":"2026-07-05T09:07:40Z"},{"alias_kind":"pith_short_8","alias_value":"ZXNNZRFZ","created_at":"2026-07-05T09:07:40Z"}],"graph_snapshots":[{"event_id":"sha256:5cec8ea434b500a7648a7159831d43cab60dd550c69acc6c4cdeb7f64a512f7f","target":"graph","created_at":"2026-07-05T09:07:40Z","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/2409.10469/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization capabilities of the MuJoCo simulator to achieve fast sampling over the robot state and action trajectories. Our results show surprisingly effective real-world locomotion and manipulation capabilities with a very simple control strategy. We demonstrate our approach on several hardware and simulation experiments: robust locomotion over flat and uneven terrains,","authors_text":"John M. Dolan, John Z. Zhang, Juan Alvarez-Padilla, Sofia Kwok, Zachary Manchester","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T17:01:10Z","title":"Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10469","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":"sha256:701b76195c96aae1a216f1fbdf2f42116d046b7618758a430c76aeb495d06fc5","target":"record","created_at":"2026-07-05T09:07:40Z","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":"e5010bb19a8de79e125c7e68ac241ac34e4642e3950944ee50fcd11b8bdd36ac","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T17:01:10Z","title_canon_sha256":"d4ddec58e53b13637568f3777e795049e11f914876ea303c3c6dbe8ea1adc4be"},"schema_version":"1.0","source":{"id":"2409.10469","kind":"arxiv","version":1}},"canonical_sha256":"cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b","first_computed_at":"2026-07-05T09:07:40.656322Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:07:40.656322Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OHMxzGkVgXCDpWrIG+KgZt6ySYz3l64D6Np4h0S25n8gVlc5KNPu/Un4f5QNaqtZCLMvciyg057V6n2JWQAYBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:07:40.656962Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.10469","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:701b76195c96aae1a216f1fbdf2f42116d046b7618758a430c76aeb495d06fc5","sha256:5cec8ea434b500a7648a7159831d43cab60dd550c69acc6c4cdeb7f64a512f7f"],"state_sha256":"b753c71585cfc018186bd0cf8e021623fe9a6195d0f47664896116c34818cbfa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dA2Uw0hr3Zu9tEdcKqOXL5izLnCdL+YYjig4lnLM0Mf/ii+aGGrrqE2nXaoJ3SoqAoRU4KEEW3P/mK2ctyYkDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T04:54:50.201664Z","bundle_sha256":"5fb9514e48281013047c8085fadd2c2b35726bb591b7a8d2fe11f8040f64b52f"}}