{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:3OXF7BO4VXOI3EN6TT64K5VSOS","short_pith_number":"pith:3OXF7BO4","canonical_record":{"source":{"id":"2407.06584","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-09T06:31:54Z","cross_cats_sorted":[],"title_canon_sha256":"e8945ad46d64a3d210d5a3950f46d3b6a9658d584a18ef7235b73a05859f2e3c","abstract_canon_sha256":"4a288cc44a2ccfaa751e53adb72147d28a606685e58296a275a62f9a358a60ce"},"schema_version":"1.0"},"canonical_sha256":"dbae5f85dcaddc8d91be9cfdc576b27480ed346499c143f672976680b7d0b542","source":{"kind":"arxiv","id":"2407.06584","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.06584","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"arxiv_version","alias_value":"2407.06584v1","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.06584","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_12","alias_value":"3OXF7BO4VXOI","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_16","alias_value":"3OXF7BO4VXOI3EN6","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_8","alias_value":"3OXF7BO4","created_at":"2026-07-05T08:41:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:3OXF7BO4VXOI3EN6TT64K5VSOS","target":"record","payload":{"canonical_record":{"source":{"id":"2407.06584","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-09T06:31:54Z","cross_cats_sorted":[],"title_canon_sha256":"e8945ad46d64a3d210d5a3950f46d3b6a9658d584a18ef7235b73a05859f2e3c","abstract_canon_sha256":"4a288cc44a2ccfaa751e53adb72147d28a606685e58296a275a62f9a358a60ce"},"schema_version":"1.0"},"canonical_sha256":"dbae5f85dcaddc8d91be9cfdc576b27480ed346499c143f672976680b7d0b542","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:41:50.569545Z","signature_b64":"yHYpEKufLAKqcnc2f4RV3hgrHstUG9vuoVMWnF07Dq+quyde7HEccTsIU9gmQp+P2IBlfRGSKWfvD7G+pn0YDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dbae5f85dcaddc8d91be9cfdc576b27480ed346499c143f672976680b7d0b542","last_reissued_at":"2026-07-05T08:41:50.569122Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:41:50.569122Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.06584","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":"2026-07-05T08:41:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JKOkTTLb5lHxCpfYtdoOnM9bnGDI+0mL60KLg46eT8rD6qxasxf0grLh0PnpepN4TxJwrtWcquES0Y73BbiJBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T19:43:27.108885Z"},"content_sha256":"1bf0914deca3461112a29209385010738243b5b747070f08132889c3e926931a","schema_version":"1.0","event_id":"sha256:1bf0914deca3461112a29209385010738243b5b747070f08132889c3e926931a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:3OXF7BO4VXOI3EN6TT64K5VSOS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Koushil Sreenath, Laura Smith, Qiayuan Liao, Sergey Levine, Xiaoyu Huang, Xue Bin Peng, Yiming Ni, Zhongyu Li","submitted_at":"2024-07-09T06:31:54Z","abstract_excerpt":"This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robots. Unlike most previous efforts that focus on solving a specific task, HiLMa-Res is designed to be general for various loco-manipulation tasks that require quadrupedal robots to maintain sustained mobility. The novel design of this framework tackles the challenges of integrating continuous locomotion control and manipulation using legs. It develops an operational space locomotion controller that can track arbitrary r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.06584","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/2407.06584/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":"2026-07-05T08:41:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aP/cZsNG2sahq3QOXKo7I4dMkYXnd1/u6Qp26pk3ZyGWqNTtw28s+r6bEtFt/Zo5OwY46t2OZGKNUUBwN3pKBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T19:43:27.109403Z"},"content_sha256":"a5d35ff17f7ca05b647279f9bd68628340699bf0ef1ce41e82f678fb0a85a251","schema_version":"1.0","event_id":"sha256:a5d35ff17f7ca05b647279f9bd68628340699bf0ef1ce41e82f678fb0a85a251"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/bundle.json","state_url":"https://pith.science/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/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":"2026-08-16T19:43:27Z","links":{"resolver":"https://pith.science/pith/3OXF7BO4VXOI3EN6TT64K5VSOS","bundle":"https://pith.science/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/bundle.json","state":"https://pith.science/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3OXF7BO4VXOI3EN6TT64K5VSOS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:3OXF7BO4VXOI3EN6TT64K5VSOS","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":"4a288cc44a2ccfaa751e53adb72147d28a606685e58296a275a62f9a358a60ce","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-09T06:31:54Z","title_canon_sha256":"e8945ad46d64a3d210d5a3950f46d3b6a9658d584a18ef7235b73a05859f2e3c"},"schema_version":"1.0","source":{"id":"2407.06584","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.06584","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"arxiv_version","alias_value":"2407.06584v1","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.06584","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_12","alias_value":"3OXF7BO4VXOI","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_16","alias_value":"3OXF7BO4VXOI3EN6","created_at":"2026-07-05T08:41:50Z"},{"alias_kind":"pith_short_8","alias_value":"3OXF7BO4","created_at":"2026-07-05T08:41:50Z"}],"graph_snapshots":[{"event_id":"sha256:a5d35ff17f7ca05b647279f9bd68628340699bf0ef1ce41e82f678fb0a85a251","target":"graph","created_at":"2026-07-05T08:41:50Z","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/2407.06584/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robots. Unlike most previous efforts that focus on solving a specific task, HiLMa-Res is designed to be general for various loco-manipulation tasks that require quadrupedal robots to maintain sustained mobility. The novel design of this framework tackles the challenges of integrating continuous locomotion control and manipulation using legs. It develops an operational space locomotion controller that can track arbitrary r","authors_text":"Koushil Sreenath, Laura Smith, Qiayuan Liao, Sergey Levine, Xiaoyu Huang, Xue Bin Peng, Yiming Ni, Zhongyu Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-09T06:31:54Z","title":"HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.06584","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":"sha256:1bf0914deca3461112a29209385010738243b5b747070f08132889c3e926931a","target":"record","created_at":"2026-07-05T08:41:50Z","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":"4a288cc44a2ccfaa751e53adb72147d28a606685e58296a275a62f9a358a60ce","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-09T06:31:54Z","title_canon_sha256":"e8945ad46d64a3d210d5a3950f46d3b6a9658d584a18ef7235b73a05859f2e3c"},"schema_version":"1.0","source":{"id":"2407.06584","kind":"arxiv","version":1}},"canonical_sha256":"dbae5f85dcaddc8d91be9cfdc576b27480ed346499c143f672976680b7d0b542","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dbae5f85dcaddc8d91be9cfdc576b27480ed346499c143f672976680b7d0b542","first_computed_at":"2026-07-05T08:41:50.569122Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:41:50.569122Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yHYpEKufLAKqcnc2f4RV3hgrHstUG9vuoVMWnF07Dq+quyde7HEccTsIU9gmQp+P2IBlfRGSKWfvD7G+pn0YDA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:41:50.569545Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.06584","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1bf0914deca3461112a29209385010738243b5b747070f08132889c3e926931a","sha256:a5d35ff17f7ca05b647279f9bd68628340699bf0ef1ce41e82f678fb0a85a251"],"state_sha256":"d63e4d8de0c1008c0ef43428bb596b88c634a05a4f536c7baa5eb4dbc6ee5ae3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YJJzkhRZ71GftUi8O2NoVDMna235QqTANQC3wM6Fk9LbqOYzcGmG3xnx7ivMDaK1hJmgx/fwcCgtoqz6+7sQCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T19:43:27.115122Z","bundle_sha256":"d5da7f4ec5057d2bc63b00abaa6684a52abcda38a7ae6dd29c62f5e15701831a"}}