{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:32QEAW3AWFEYRIUQ5OVOW3VSM3","short_pith_number":"pith:32QEAW3A","canonical_record":{"source":{"id":"1905.09264","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-22T17:50:40Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"b904313a6adb6870da7b9b6e495b4528cb08483620f01b03fd1e482622021a58","abstract_canon_sha256":"256edc5de6f95ad32e140c25f91eb14d7dbc633e6b566686150fe394cfc1e70b"},"schema_version":"1.0"},"canonical_sha256":"dea0405b60b14988a290ebaaeb6eb266de5e02f007a9660cc6e73d0d0f470525","source":{"kind":"arxiv","id":"1905.09264","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.09264","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"arxiv_version","alias_value":"1905.09264v1","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.09264","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"pith_short_12","alias_value":"32QEAW3AWFEY","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"32QEAW3AWFEYRIUQ","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"32QEAW3A","created_at":"2026-05-18T12:33:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:32QEAW3AWFEYRIUQ5OVOW3VSM3","target":"record","payload":{"canonical_record":{"source":{"id":"1905.09264","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-22T17:50:40Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"b904313a6adb6870da7b9b6e495b4528cb08483620f01b03fd1e482622021a58","abstract_canon_sha256":"256edc5de6f95ad32e140c25f91eb14d7dbc633e6b566686150fe394cfc1e70b"},"schema_version":"1.0"},"canonical_sha256":"dea0405b60b14988a290ebaaeb6eb266de5e02f007a9660cc6e73d0d0f470525","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:39:53.778121Z","signature_b64":"Oio6IDFpmP/gg5lPQ5uQEq2+AIByrG2Y3GFGl3vXhK/S6DDDhv39amRreMiWDP7boJMIzLlrAOHWIfbIoSTrAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dea0405b60b14988a290ebaaeb6eb266de5e02f007a9660cc6e73d0d0f470525","last_reissued_at":"2026-05-17T23:39:53.777714Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:39:53.777714Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1905.09264","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":"2026-05-17T23:39:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Zt4iRKhHCwO1/Xuz2maWJyyiWRQ9GN8zv4uvqOwuCCw8g9Rs+T1vZyeDOQhGTpvXfRPSdX0a7W6AnzIGDayvBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:24:34.849749Z"},"content_sha256":"dcc9bbc304cda41feede35b5a8b44aa59ce496eebe18300c1bad3fb4cf22bd42","schema_version":"1.0","event_id":"sha256:dcc9bbc304cda41feede35b5a8b44aa59ce496eebe18300c1bad3fb4cf22bd42"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:32QEAW3AWFEYRIUQ5OVOW3VSM3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Automated shapeshifting for function recovery in damaged robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Dylan Shah, Josh Bongard, Michael Levin, Rebecca Kramer-Bottiglio, Sam Kriegman, Stephanie Walker","submitted_at":"2019-05-22T17:50:40Z","abstract_excerpt":"A robot's mechanical parts routinely wear out from normal functioning and can be lost to injury. For autonomous robots operating in isolated or hostile environments, repair from a human operator is often not possible. Thus, much work has sought to automate damage recovery in robots. However, every case reported in the literature to date has accepted the damaged mechanical structure as fixed, and focused on learning new ways to control it. Here we show for the first time a robot that automatically recovers from unexpected damage by deforming its resting mechanical structure without changing its"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.09264","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":""},"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":"2026-05-17T23:39:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wQzlLkid8LogVUFIscJwzGOyCwl+vBv/U6USwUQHL6F3h/BVsdwVVFRQ0DzdAUvyrmL4b0t5Geat2jofHGgiAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:24:34.850114Z"},"content_sha256":"4dd6e43b70aca05cb8ed7a9ac891bedd917fda52d700c3ac560d1961e214adf6","schema_version":"1.0","event_id":"sha256:4dd6e43b70aca05cb8ed7a9ac891bedd917fda52d700c3ac560d1961e214adf6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/bundle.json","state_url":"https://pith.science/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/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":"2026-05-28T06:24:34Z","links":{"resolver":"https://pith.science/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3","bundle":"https://pith.science/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/bundle.json","state":"https://pith.science/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/32QEAW3AWFEYRIUQ5OVOW3VSM3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:32QEAW3AWFEYRIUQ5OVOW3VSM3","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":"256edc5de6f95ad32e140c25f91eb14d7dbc633e6b566686150fe394cfc1e70b","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-22T17:50:40Z","title_canon_sha256":"b904313a6adb6870da7b9b6e495b4528cb08483620f01b03fd1e482622021a58"},"schema_version":"1.0","source":{"id":"1905.09264","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.09264","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"arxiv_version","alias_value":"1905.09264v1","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.09264","created_at":"2026-05-17T23:39:53Z"},{"alias_kind":"pith_short_12","alias_value":"32QEAW3AWFEY","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"32QEAW3AWFEYRIUQ","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"32QEAW3A","created_at":"2026-05-18T12:33:07Z"}],"graph_snapshots":[{"event_id":"sha256:4dd6e43b70aca05cb8ed7a9ac891bedd917fda52d700c3ac560d1961e214adf6","target":"graph","created_at":"2026-05-17T23:39:53Z","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"},"paper":{"abstract_excerpt":"A robot's mechanical parts routinely wear out from normal functioning and can be lost to injury. For autonomous robots operating in isolated or hostile environments, repair from a human operator is often not possible. Thus, much work has sought to automate damage recovery in robots. However, every case reported in the literature to date has accepted the damaged mechanical structure as fixed, and focused on learning new ways to control it. Here we show for the first time a robot that automatically recovers from unexpected damage by deforming its resting mechanical structure without changing its","authors_text":"Dylan Shah, Josh Bongard, Michael Levin, Rebecca Kramer-Bottiglio, Sam Kriegman, Stephanie Walker","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-22T17:50:40Z","title":"Automated shapeshifting for function recovery in damaged robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.09264","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:dcc9bbc304cda41feede35b5a8b44aa59ce496eebe18300c1bad3fb4cf22bd42","target":"record","created_at":"2026-05-17T23:39:53Z","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":"256edc5de6f95ad32e140c25f91eb14d7dbc633e6b566686150fe394cfc1e70b","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-22T17:50:40Z","title_canon_sha256":"b904313a6adb6870da7b9b6e495b4528cb08483620f01b03fd1e482622021a58"},"schema_version":"1.0","source":{"id":"1905.09264","kind":"arxiv","version":1}},"canonical_sha256":"dea0405b60b14988a290ebaaeb6eb266de5e02f007a9660cc6e73d0d0f470525","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dea0405b60b14988a290ebaaeb6eb266de5e02f007a9660cc6e73d0d0f470525","first_computed_at":"2026-05-17T23:39:53.777714Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:39:53.777714Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Oio6IDFpmP/gg5lPQ5uQEq2+AIByrG2Y3GFGl3vXhK/S6DDDhv39amRreMiWDP7boJMIzLlrAOHWIfbIoSTrAA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:39:53.778121Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.09264","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dcc9bbc304cda41feede35b5a8b44aa59ce496eebe18300c1bad3fb4cf22bd42","sha256:4dd6e43b70aca05cb8ed7a9ac891bedd917fda52d700c3ac560d1961e214adf6"],"state_sha256":"a7625582adfdf40202f45511cf3cc5f83d32ebede85789697ab9c0ab692861e4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H91IHj1IaFRdH0nEI/zqOIOOoS0Zd5FBTCHXsluX/5wIzfjONlAS9fAELPLKbSSy4nwGyGj9kY4j4+etNfO3CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T06:24:34.852077Z","bundle_sha256":"f636303ed13de0dce5c2e97327c2d382cc6378ca81940d695810915033d63a3f"}}