{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:4VXQXJPLX45HXHJDC3MPB4CHGW","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":"9ecccf7da28a4cc0a84bcf56396092babbadee5b6f551a6021f5fe8847b332a0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T20:01:29Z","title_canon_sha256":"c23634eb67a68ff92489c46b21a1b6c5eb493aad6316cdbe3d688d58bf9d5bbe"},"schema_version":"1.0","source":{"id":"2602.21331","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.21331","created_at":"2026-06-10T01:10:59Z"},{"alias_kind":"arxiv_version","alias_value":"2602.21331v2","created_at":"2026-06-10T01:10:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.21331","created_at":"2026-06-10T01:10:59Z"},{"alias_kind":"pith_short_12","alias_value":"4VXQXJPLX45H","created_at":"2026-06-10T01:10:59Z"},{"alias_kind":"pith_short_16","alias_value":"4VXQXJPLX45HXHJD","created_at":"2026-06-10T01:10:59Z"},{"alias_kind":"pith_short_8","alias_value":"4VXQXJPL","created_at":"2026-06-10T01:10:59Z"}],"graph_snapshots":[{"event_id":"sha256:a0e0239304110c65f5591483fd91fe3da998d47e016f2631245e73a4d420b0d7","target":"graph","created_at":"2026-06-10T01:10:59Z","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/2602.21331/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"General-purpose simulators have accelerated the development of robots. Traditional simulators based on first-principles, however, typically require full-state observability or depend on parameter search for system identification. This work presents \\texttt{CableRobotGraphSim}, a novel Graph Neural Network (GNN) model for cable-driven robots that aims to address shortcomings of prior simulation solutions. By representing cable-driven robots as graphs, with the rigid-bodies as nodes and the cables and contacts as edges, this model can quickly and accurately match the properties of other simulati","authors_text":"Kostas Bekris, Mridul Aanjaneya, Nelson Chen, Rebecca Kramer-Bottiglio, William R. Johnson III","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T20:01:29Z","title":"CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.21331","kind":"arxiv","version":2},"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":"sha256:9474cdaa454e40a12ef9d14c7036226168cd6f2ffac1a1cc9babbfdc87b916c0","target":"record","created_at":"2026-06-10T01:10:59Z","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":"9ecccf7da28a4cc0a84bcf56396092babbadee5b6f551a6021f5fe8847b332a0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-24T20:01:29Z","title_canon_sha256":"c23634eb67a68ff92489c46b21a1b6c5eb493aad6316cdbe3d688d58bf9d5bbe"},"schema_version":"1.0","source":{"id":"2602.21331","kind":"arxiv","version":2}},"canonical_sha256":"e56f0ba5ebbf3a7b9d2316d8f0f047359cfdaf7cd49840534e5a8ae0d02817c3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e56f0ba5ebbf3a7b9d2316d8f0f047359cfdaf7cd49840534e5a8ae0d02817c3","first_computed_at":"2026-06-10T01:10:59.712419Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T01:10:59.712419Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dnN9GEgGDaqI8JjuXl06ALqlWHVjn9DQrjRiJpd0K+rp8gcnerUqYk94ozD2XrSwm17Yu3nnM3NxRooXcTykCw==","signature_status":"signed_v1","signed_at":"2026-06-10T01:10:59.713517Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.21331","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9474cdaa454e40a12ef9d14c7036226168cd6f2ffac1a1cc9babbfdc87b916c0","sha256:a0e0239304110c65f5591483fd91fe3da998d47e016f2631245e73a4d420b0d7"],"state_sha256":"a553f35eca67896098813272b152768b88a4e7b8c0978b5bd81bf2ed0b636fda"}