{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2008:6KWKMNWQWORUGLGHUEVOFR63P3","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":"ee99c19d82c45ede4ed55bcc506e35ef458a4c1ee2de3a2d05a8860295f07b50","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NE","submitted_at":"2008-01-06T00:20:25Z","title_canon_sha256":"43760dc64c4d5aa955d0d43140b4237bc3a661955e461f350f34cd3dcc594e97"},"schema_version":"1.0","source":{"id":"0801.0830","kind":"arxiv","version":9}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"0801.0830","created_at":"2026-05-18T02:24:57Z"},{"alias_kind":"arxiv_version","alias_value":"0801.0830v9","created_at":"2026-05-18T02:24:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.0801.0830","created_at":"2026-05-18T02:24:57Z"},{"alias_kind":"pith_short_12","alias_value":"6KWKMNWQWORU","created_at":"2026-05-18T12:25:56Z"},{"alias_kind":"pith_short_16","alias_value":"6KWKMNWQWORUGLGH","created_at":"2026-05-18T12:25:56Z"},{"alias_kind":"pith_short_8","alias_value":"6KWKMNWQ","created_at":"2026-05-18T12:25:56Z"}],"graph_snapshots":[{"event_id":"sha256:75f66d51c5bb3116a7144085fc402cf8d4577d0292e1c8caf5d402e30d7dc79e","target":"graph","created_at":"2026-05-18T02:24:57Z","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":"Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with ac","authors_text":"Atilim Gunes Baydin","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NE","submitted_at":"2008-01-06T00:20:25Z","title":"Evolution of central pattern generators for the control of a five-link bipedal walking mechanism"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"0801.0830","kind":"arxiv","version":9},"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:df7b00f48efa8cf04eb49f3ab49a795d54c30bc2bc4b9571b5d999f68b8e9355","target":"record","created_at":"2026-05-18T02:24:57Z","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":"ee99c19d82c45ede4ed55bcc506e35ef458a4c1ee2de3a2d05a8860295f07b50","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NE","submitted_at":"2008-01-06T00:20:25Z","title_canon_sha256":"43760dc64c4d5aa955d0d43140b4237bc3a661955e461f350f34cd3dcc594e97"},"schema_version":"1.0","source":{"id":"0801.0830","kind":"arxiv","version":9}},"canonical_sha256":"f2aca636d0b3a3432cc7a12ae2c7db7ec8c969171d0827067d9ca7675a71852f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2aca636d0b3a3432cc7a12ae2c7db7ec8c969171d0827067d9ca7675a71852f","first_computed_at":"2026-05-18T02:24:57.660551Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:24:57.660551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OYOuMemr8t2Lvb0g3sxqU+zg2ItGyUVV+TctTL20gr7Xd+V3JGjvd1qNNS6hhaNMy4/4VQ0rryFHZSoENtqOAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:24:57.661147Z","signed_message":"canonical_sha256_bytes"},"source_id":"0801.0830","source_kind":"arxiv","source_version":9}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:df7b00f48efa8cf04eb49f3ab49a795d54c30bc2bc4b9571b5d999f68b8e9355","sha256:75f66d51c5bb3116a7144085fc402cf8d4577d0292e1c8caf5d402e30d7dc79e"],"state_sha256":"6c2312faf4b38473e8a9951e65f50a0eed72f40d6203fe3ed735f9859517a3a2"}