{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:KA3WQIRGGFCBMCB55AG7DZIQOR","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":"ef8ba6ec90952bf379381e3c73781f2529bd83ab6b11db755915386f97f6c133","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-04-10T02:44:29Z","title_canon_sha256":"7dfab9ed40bc3ef118a296d87fccd91386f16e3d24ec921ba9d4071e3c210173"},"schema_version":"1.0","source":{"id":"2604.08882","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2604.08882","created_at":"2026-06-05T01:14:38Z"},{"alias_kind":"arxiv_version","alias_value":"2604.08882v2","created_at":"2026-06-05T01:14:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2604.08882","created_at":"2026-06-05T01:14:38Z"},{"alias_kind":"pith_short_12","alias_value":"KA3WQIRGGFCB","created_at":"2026-06-05T01:14:38Z"},{"alias_kind":"pith_short_16","alias_value":"KA3WQIRGGFCBMCB5","created_at":"2026-06-05T01:14:38Z"},{"alias_kind":"pith_short_8","alias_value":"KA3WQIRG","created_at":"2026-06-05T01:14:38Z"}],"graph_snapshots":[{"event_id":"sha256:02f7f88f5a514da10bddec481d1bb70010e1579d378183b09d526b5337962dac","target":"graph","created_at":"2026-06-05T01:14:38Z","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":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"We simulated running motions under different virtual prosthetic stiffness conditions and analyzed the metabolic cost of transport obtained from the simulations, suggesting that variations in stiffness influence running performance."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"The hybrid-link system with the Piece-wise Constant Strain model, combined with imitation learning from motion capture, produces whole-body dynamics that are sufficiently realistic to support conclusions about how real prosthetic stiffness affects metabolic cost and performance."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"Reinforcement learning on a hybrid-link model of a flexible sports prosthesis generates simulated running motions for amputees and indicates that prosthesis stiffness affects metabolic cost and performance."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"A reinforcement learning system with a hybrid-link model simulates amputee running motions and shows that prosthetic stiffness changes metabolic energy cost."}],"snapshot_sha256":"36ad30ea0a10e1facb89332f0547183409d4d31b56697a72c20270f7f24f19c9"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2604.08882/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This study proposes a reinforcement learning-based framework for adaptive running motion simulation in a unilateral transtibial amputee using a hybrid-link system that incorporates the flexibility of a leaf-spring-type sports prosthesis. The design and selection of sports prostheses typically rely on trial and error. A comprehensive whole-body dynamics analysis that accounts for interactions between human motion and prosthetic deformation can provide valuable insights for user-specific design and selection. The proposed hybrid-link system enables such analysis by integrating a Piece-wise Const","authors_text":"Ko Yamamoto, Yuta Shimane","cross_cats":[],"headline":"A reinforcement learning system with a hybrid-link model simulates amputee running motions and shows that prosthetic stiffness changes metabolic energy cost.","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-04-10T02:44:29Z","title":"Simulation of Adaptive Running with Flexible Sports Prosthesis using Reinforcement Learning of Hybrid-link System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2604.08882","kind":"arxiv","version":2},"verdict":{"created_at":"2026-05-10T18:19:56.799791Z","id":"011e0d43-5e60-4bb3-9576-8d1e063a0ca4","model_set":{"reader":"grok-4.3"},"one_line_summary":"Reinforcement learning on a hybrid-link model of a flexible sports prosthesis generates simulated running motions for amputees and indicates that prosthesis stiffness affects metabolic cost and performance.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"A reinforcement learning system with a hybrid-link model simulates amputee running motions and shows that prosthetic stiffness changes metabolic energy cost.","strongest_claim":"We simulated running motions under different virtual prosthetic stiffness conditions and analyzed the metabolic cost of transport obtained from the simulations, suggesting that variations in stiffness influence running performance.","weakest_assumption":"The hybrid-link system with the Piece-wise Constant Strain model, combined with imitation learning from motion capture, produces whole-body dynamics that are sufficiently realistic to support conclusions about how real prosthetic stiffness affects metabolic cost and performance."}},"verdict_id":"011e0d43-5e60-4bb3-9576-8d1e063a0ca4"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f679845f8ec4c705feb7bffc727bd2207c98622720d3c024717feab8c802bc2a","target":"record","created_at":"2026-06-05T01:14:38Z","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":"ef8ba6ec90952bf379381e3c73781f2529bd83ab6b11db755915386f97f6c133","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-04-10T02:44:29Z","title_canon_sha256":"7dfab9ed40bc3ef118a296d87fccd91386f16e3d24ec921ba9d4071e3c210173"},"schema_version":"1.0","source":{"id":"2604.08882","kind":"arxiv","version":2}},"canonical_sha256":"5037682226314416083de80df1e51074667327e4d6f98e2c3ab55c4bfe131342","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5037682226314416083de80df1e51074667327e4d6f98e2c3ab55c4bfe131342","first_computed_at":"2026-06-05T01:14:38.167769Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-05T01:14:38.167769Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PrG10B6ubYDsV/qDA10rzOPJ1ZI16sKCGrxIN25knEsAPDYVXmgOU7y0TGLgn+GxSMTo19tvJK+P4ZDDZfoJBQ==","signature_status":"signed_v1","signed_at":"2026-06-05T01:14:38.168568Z","signed_message":"canonical_sha256_bytes"},"source_id":"2604.08882","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f679845f8ec4c705feb7bffc727bd2207c98622720d3c024717feab8c802bc2a","sha256:02f7f88f5a514da10bddec481d1bb70010e1579d378183b09d526b5337962dac"],"state_sha256":"f950a72d35c7e4bc049dd593a9c77c460785bd5e3237e6aaa6b063bb988932b5"}