{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:7SZBK6AK4ZKJ5YG7C57EDI3VT4","short_pith_number":"pith:7SZBK6AK","canonical_record":{"source":{"id":"2311.17053","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T18:58:48Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"title_canon_sha256":"1a712cc9380bd33915f3a6a26c1abf84457dbcd69fa6fe7bd9da264424fe1928","abstract_canon_sha256":"293d711ecfa435a796ac3f53c42fb2f4e8e75a85dd86dda573891851e0e52b8d"},"schema_version":"1.0"},"canonical_sha256":"fcb215780ae6549ee0df177e41a3759f3ddd9fe73a3584c93a02f34848ce87f0","source":{"kind":"arxiv","id":"2311.17053","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.17053","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"arxiv_version","alias_value":"2311.17053v1","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.17053","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_12","alias_value":"7SZBK6AK4ZKJ","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_16","alias_value":"7SZBK6AK4ZKJ5YG7","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_8","alias_value":"7SZBK6AK","created_at":"2026-07-05T07:17:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:7SZBK6AK4ZKJ5YG7C57EDI3VT4","target":"record","payload":{"canonical_record":{"source":{"id":"2311.17053","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T18:58:48Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"title_canon_sha256":"1a712cc9380bd33915f3a6a26c1abf84457dbcd69fa6fe7bd9da264424fe1928","abstract_canon_sha256":"293d711ecfa435a796ac3f53c42fb2f4e8e75a85dd86dda573891851e0e52b8d"},"schema_version":"1.0"},"canonical_sha256":"fcb215780ae6549ee0df177e41a3759f3ddd9fe73a3584c93a02f34848ce87f0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:17:50.096538Z","signature_b64":"Jwoc+Tg+lDeRDlpjgYUPFiwZIn5HiLgCx+5C2mmJHiuYjJZ0+sCvHm38IUi+SJ+JlUx29orBhPUqAwh3M/VNDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fcb215780ae6549ee0df177e41a3759f3ddd9fe73a3584c93a02f34848ce87f0","last_reissued_at":"2026-07-05T07:17:50.096064Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:17:50.096064Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2311.17053","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":"2026-07-05T07:17:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZEbKiIUGzcYpo2CamUsQd8zfAXG17NQp3ujMn4cu5nixH2mwsZAtSvJAlWp3r5zld4t3izmCw4cA1MxrPigXDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:09:13.226371Z"},"content_sha256":"77697bcad8d7fd525b5ebc9cac5a85c1dcc50ea48b9c0fede4a454d0e01abb71","schema_version":"1.0","event_id":"sha256:77697bcad8d7fd525b5ebc9cac5a85c1dcc50ea48b9c0fede4a454d0e01abb71"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:7SZBK6AK4ZKJ5YG7C57EDI3VT4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Andrew Spielberg, Byungchul Kim, Chuang Gan, Daniela Rus, Joshua Tenenbaum, Juntian Zheng, Pingchuan Ma, Tsun-Hsuan Wang, Yilun Du","submitted_at":"2023-11-28T18:58:48Z","abstract_excerpt":"Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in silico shows promise for applications in physical soft robotics and virtual character creation; such approaches, however, require developing new learning algorithms that can reason about function atop pure structure. In this paper, we present DiffuseBot, a physics-augmented diffusion model that generates soft robot morphologies capable of excelling in a wid"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.17053","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/2311.17053/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":"2026-07-05T07:17:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QQmaoee/FwB5bZlfRE53whx+U8wU3vNtM3sZA8JVtKUG0lviupk0UnPdwArWkfBff5GXmc1y7FfTAkq8ZuW5Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:09:13.227136Z"},"content_sha256":"042252a043610786b71b65dbcc127e39d3f047c1f9f7a0e8ccfa502554338ff3","schema_version":"1.0","event_id":"sha256:042252a043610786b71b65dbcc127e39d3f047c1f9f7a0e8ccfa502554338ff3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/bundle.json","state_url":"https://pith.science/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/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":"2026-08-07T08:09:13Z","links":{"resolver":"https://pith.science/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4","bundle":"https://pith.science/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/bundle.json","state":"https://pith.science/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7SZBK6AK4ZKJ5YG7C57EDI3VT4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7SZBK6AK4ZKJ5YG7C57EDI3VT4","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":"293d711ecfa435a796ac3f53c42fb2f4e8e75a85dd86dda573891851e0e52b8d","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T18:58:48Z","title_canon_sha256":"1a712cc9380bd33915f3a6a26c1abf84457dbcd69fa6fe7bd9da264424fe1928"},"schema_version":"1.0","source":{"id":"2311.17053","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.17053","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"arxiv_version","alias_value":"2311.17053v1","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.17053","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_12","alias_value":"7SZBK6AK4ZKJ","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_16","alias_value":"7SZBK6AK4ZKJ5YG7","created_at":"2026-07-05T07:17:50Z"},{"alias_kind":"pith_short_8","alias_value":"7SZBK6AK","created_at":"2026-07-05T07:17:50Z"}],"graph_snapshots":[{"event_id":"sha256:042252a043610786b71b65dbcc127e39d3f047c1f9f7a0e8ccfa502554338ff3","target":"graph","created_at":"2026-07-05T07:17:50Z","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/2311.17053/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in silico shows promise for applications in physical soft robotics and virtual character creation; such approaches, however, require developing new learning algorithms that can reason about function atop pure structure. In this paper, we present DiffuseBot, a physics-augmented diffusion model that generates soft robot morphologies capable of excelling in a wid","authors_text":"Andrew Spielberg, Byungchul Kim, Chuang Gan, Daniela Rus, Joshua Tenenbaum, Juntian Zheng, Pingchuan Ma, Tsun-Hsuan Wang, Yilun Du","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T18:58:48Z","title":"DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.17053","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":"sha256:77697bcad8d7fd525b5ebc9cac5a85c1dcc50ea48b9c0fede4a454d0e01abb71","target":"record","created_at":"2026-07-05T07:17:50Z","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":"293d711ecfa435a796ac3f53c42fb2f4e8e75a85dd86dda573891851e0e52b8d","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-28T18:58:48Z","title_canon_sha256":"1a712cc9380bd33915f3a6a26c1abf84457dbcd69fa6fe7bd9da264424fe1928"},"schema_version":"1.0","source":{"id":"2311.17053","kind":"arxiv","version":1}},"canonical_sha256":"fcb215780ae6549ee0df177e41a3759f3ddd9fe73a3584c93a02f34848ce87f0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fcb215780ae6549ee0df177e41a3759f3ddd9fe73a3584c93a02f34848ce87f0","first_computed_at":"2026-07-05T07:17:50.096064Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:17:50.096064Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Jwoc+Tg+lDeRDlpjgYUPFiwZIn5HiLgCx+5C2mmJHiuYjJZ0+sCvHm38IUi+SJ+JlUx29orBhPUqAwh3M/VNDA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:17:50.096538Z","signed_message":"canonical_sha256_bytes"},"source_id":"2311.17053","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:77697bcad8d7fd525b5ebc9cac5a85c1dcc50ea48b9c0fede4a454d0e01abb71","sha256:042252a043610786b71b65dbcc127e39d3f047c1f9f7a0e8ccfa502554338ff3"],"state_sha256":"b29c71b89daddeab0d52522f1ab5621c0f4e3f1981721831974a8d83f97e34e3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5g9jy3jtuQh+SLCPQ7WZ+lIicXKkAGSFC+EPzUqrnH5X7WULpZfsCHWjTF4bXfnxSSuFNspkzQM2pXwezKaHDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T08:09:13.233383Z","bundle_sha256":"d5fb8302c0e385ae10a50040aee0f58dccf8e5463d9100261e89de174125c92f"}}