{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:5I7VMVTUPO67RUZZ46MTPWSI4E","short_pith_number":"pith:5I7VMVTU","canonical_record":{"source":{"id":"2105.04261","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T10:59:38Z","cross_cats_sorted":["cs.AI","q-bio.NC"],"title_canon_sha256":"9b4ce4aa6c53935b379e5b39d99917aebedfa9f5055b8e13450067edb8730a6a","abstract_canon_sha256":"2685ae1b7df65a81c7c946b3bef7409d5ae4be518f29959936ca126ddf332511"},"schema_version":"1.0"},"canonical_sha256":"ea3f5656747bbdf8d339e79937da48e12989f090cfded756926e19507496741b","source":{"kind":"arxiv","id":"2105.04261","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04261","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04261v1","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04261","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_12","alias_value":"5I7VMVTUPO67","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_16","alias_value":"5I7VMVTUPO67RUZZ","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_8","alias_value":"5I7VMVTU","created_at":"2026-07-05T02:38:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:5I7VMVTUPO67RUZZ46MTPWSI4E","target":"record","payload":{"canonical_record":{"source":{"id":"2105.04261","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T10:59:38Z","cross_cats_sorted":["cs.AI","q-bio.NC"],"title_canon_sha256":"9b4ce4aa6c53935b379e5b39d99917aebedfa9f5055b8e13450067edb8730a6a","abstract_canon_sha256":"2685ae1b7df65a81c7c946b3bef7409d5ae4be518f29959936ca126ddf332511"},"schema_version":"1.0"},"canonical_sha256":"ea3f5656747bbdf8d339e79937da48e12989f090cfded756926e19507496741b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:38:55.272261Z","signature_b64":"tpnT0D07PwYQK9vP+17kootHCEEYiN2CK5Udi3QuprCaw0kPfFB9KPcb3rtK56mpOYhKzIm9nq8RcccLR1iLBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ea3f5656747bbdf8d339e79937da48e12989f090cfded756926e19507496741b","last_reissued_at":"2026-07-05T02:38:55.271823Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:38:55.271823Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.04261","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":"2026-07-05T02:38:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"stkNVNCF8GXYDmyQQsJ98X165kpFXQLCoZOVhf/Bp0CoWUiN9mO2DPip7oMfbZb0Hco2DIiCvBmtpNb7xQFVAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-19T08:58:41.746616Z"},"content_sha256":"97e079708661980a623c10decdc9db22d005a4d15518e0535f094a8031e86ef4","schema_version":"1.0","event_id":"sha256:97e079708661980a623c10decdc9db22d005a4d15518e0535f094a8031e86ef4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:5I7VMVTUPO67RUZZ46MTPWSI4E","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","q-bio.NC"],"primary_cat":"cs.RO","authors_text":"Marcel van Gerven, Pablo Lanillos","submitted_at":"2021-05-10T10:59:38Z","abstract_excerpt":"Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world. Discovering how the brain represents the body and generates actions is of major importance for robotics and artificial intelligence. Here we discuss how neuroscience findings open up opportunities to improve current estimation and control algorithms in robotics. In particular, how active inference, a mathematical formulation of how the brain resists a natural tendency to disorder, provides a unified recipe to potentially solve some of the major challenges in robotics, such as adaptation, robustness, fle"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04261","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/2105.04261/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":"2026-07-05T02:38:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jwo95NIjDpT+LZykEhdv38rEjdrvG3QuKER6SdNTu/bo8SLsLkK7tXrtnjxGQLCN3Or240OfdFkKuCJNWSj5Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-19T08:58:41.746997Z"},"content_sha256":"5c24f11b2be7f2d81fca36d92d01bc47309260aa306a857d653d8b71c39c2d64","schema_version":"1.0","event_id":"sha256:5c24f11b2be7f2d81fca36d92d01bc47309260aa306a857d653d8b71c39c2d64"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/bundle.json","state_url":"https://pith.science/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/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":"2026-07-19T08:58:41Z","links":{"resolver":"https://pith.science/pith/5I7VMVTUPO67RUZZ46MTPWSI4E","bundle":"https://pith.science/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/bundle.json","state":"https://pith.science/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5I7VMVTUPO67RUZZ46MTPWSI4E/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:5I7VMVTUPO67RUZZ46MTPWSI4E","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":"2685ae1b7df65a81c7c946b3bef7409d5ae4be518f29959936ca126ddf332511","cross_cats_sorted":["cs.AI","q-bio.NC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T10:59:38Z","title_canon_sha256":"9b4ce4aa6c53935b379e5b39d99917aebedfa9f5055b8e13450067edb8730a6a"},"schema_version":"1.0","source":{"id":"2105.04261","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04261","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04261v1","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04261","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_12","alias_value":"5I7VMVTUPO67","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_16","alias_value":"5I7VMVTUPO67RUZZ","created_at":"2026-07-05T02:38:55Z"},{"alias_kind":"pith_short_8","alias_value":"5I7VMVTU","created_at":"2026-07-05T02:38:55Z"}],"graph_snapshots":[{"event_id":"sha256:5c24f11b2be7f2d81fca36d92d01bc47309260aa306a857d653d8b71c39c2d64","target":"graph","created_at":"2026-07-05T02:38:55Z","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/2105.04261/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world. Discovering how the brain represents the body and generates actions is of major importance for robotics and artificial intelligence. Here we discuss how neuroscience findings open up opportunities to improve current estimation and control algorithms in robotics. In particular, how active inference, a mathematical formulation of how the brain resists a natural tendency to disorder, provides a unified recipe to potentially solve some of the major challenges in robotics, such as adaptation, robustness, fle","authors_text":"Marcel van Gerven, Pablo Lanillos","cross_cats":["cs.AI","q-bio.NC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T10:59:38Z","title":"Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04261","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":"sha256:97e079708661980a623c10decdc9db22d005a4d15518e0535f094a8031e86ef4","target":"record","created_at":"2026-07-05T02:38:55Z","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":"2685ae1b7df65a81c7c946b3bef7409d5ae4be518f29959936ca126ddf332511","cross_cats_sorted":["cs.AI","q-bio.NC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T10:59:38Z","title_canon_sha256":"9b4ce4aa6c53935b379e5b39d99917aebedfa9f5055b8e13450067edb8730a6a"},"schema_version":"1.0","source":{"id":"2105.04261","kind":"arxiv","version":1}},"canonical_sha256":"ea3f5656747bbdf8d339e79937da48e12989f090cfded756926e19507496741b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea3f5656747bbdf8d339e79937da48e12989f090cfded756926e19507496741b","first_computed_at":"2026-07-05T02:38:55.271823Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:38:55.271823Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tpnT0D07PwYQK9vP+17kootHCEEYiN2CK5Udi3QuprCaw0kPfFB9KPcb3rtK56mpOYhKzIm9nq8RcccLR1iLBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:38:55.272261Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.04261","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:97e079708661980a623c10decdc9db22d005a4d15518e0535f094a8031e86ef4","sha256:5c24f11b2be7f2d81fca36d92d01bc47309260aa306a857d653d8b71c39c2d64"],"state_sha256":"6aff9abad0772c66962230223c47a8be9c5ed9b05126f34c95289299f334c818"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"84FRuynhkLLyRT4XpNHlGZFekSYjjytXnAhduQSFDgP18cgYJBPuFRkoBQWPfHtgLQPRkVFn3hif1PZ0ykICCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-19T08:58:41.749124Z","bundle_sha256":"e9de43fd50b5bb456a6367ed7b9463ca9c13f629e0e10724088bcde91e3e36aa"}}