{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:3747SGL6VTQEXGLCYSOUM7ZHF2","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":"d4d819ad0a5de03aa8d49d2d800fb31b45ee868f1d553f3e8761d35680eb754b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T02:07:32Z","title_canon_sha256":"d1aa6ed4176fad97196e02e47562d039f71328a0510b8139523d336170ffaed7"},"schema_version":"1.0","source":{"id":"2606.06829","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.06829","created_at":"2026-06-08T01:04:30Z"},{"alias_kind":"arxiv_version","alias_value":"2606.06829v1","created_at":"2026-06-08T01:04:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.06829","created_at":"2026-06-08T01:04:30Z"},{"alias_kind":"pith_short_12","alias_value":"3747SGL6VTQE","created_at":"2026-06-08T01:04:30Z"},{"alias_kind":"pith_short_16","alias_value":"3747SGL6VTQEXGLC","created_at":"2026-06-08T01:04:30Z"},{"alias_kind":"pith_short_8","alias_value":"3747SGL6","created_at":"2026-06-08T01:04:30Z"}],"graph_snapshots":[{"event_id":"sha256:4c21c330d292d2d4fa4971ae38e22f0e11697b3d6c9d9e17175c2c38211b7f75","target":"graph","created_at":"2026-06-08T01:04:30Z","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/2606.06829/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Aquatic robots have expanded human access to underwater environments, yet many underwater spaces contain obstacles that can disrupt open-water locomotion. In \"hydro-cluttered\" environments, water is interspersed with rigid and flexible clutter, making body-obstacle contact unavoidable. Operating in these spaces requires robots that can regulate and exploit contact, but this regime remains difficult to model or simulate. Building on recent advances in mechanical intelligence in terradynamically capable limbless robotics, we develop principles for 3D aquatic locomotion using AquaMILR, an elongat","authors_text":"Daniel I. Goldman, Darsh Parikh, Donoven Dortilus, Emily Grace, Galen Tunnicliffe, Jianfeng Lin, Justin Duong, Matthew Fernandez, Nikolas Cornell, Patricia Meza, Sean Lublinsky, Tianyu Wang, Zhaochen J. Xu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T02:07:32Z","title":"Three-dimensional hydro-cluttered locomotion by an undulatory robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06829","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:a8d82b15bc025af524555099a5106db43a013c4b27f1b39c686c3a2b90375765","target":"record","created_at":"2026-06-08T01:04:30Z","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":"d4d819ad0a5de03aa8d49d2d800fb31b45ee868f1d553f3e8761d35680eb754b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-05T02:07:32Z","title_canon_sha256":"d1aa6ed4176fad97196e02e47562d039f71328a0510b8139523d336170ffaed7"},"schema_version":"1.0","source":{"id":"2606.06829","kind":"arxiv","version":1}},"canonical_sha256":"dff9f9197eace04b9962c49d467f272ea773a81335a9426ffaa62bdb1383e2ff","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dff9f9197eace04b9962c49d467f272ea773a81335a9426ffaa62bdb1383e2ff","first_computed_at":"2026-06-08T01:04:30.620834Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-08T01:04:30.620834Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CgIomyn2ASyYvDcusEoF3YMbVOOxL2Tl4QLYLHAkuTcFfzQe7Au1SxO+OafAxWpKvVtjurQ3nIrh8Si6N8uFAw==","signature_status":"signed_v1","signed_at":"2026-06-08T01:04:30.621632Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.06829","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a8d82b15bc025af524555099a5106db43a013c4b27f1b39c686c3a2b90375765","sha256:4c21c330d292d2d4fa4971ae38e22f0e11697b3d6c9d9e17175c2c38211b7f75"],"state_sha256":"347c640cbc2d7b7a430a0011996ea26daa1487244a37224003379fb2c7398204"}