{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:AJ5NI4GMI6CJLMOCIRLZB5R5FI","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":"a9a04cf6a94cb950ba43cb9135246664a8b419f1766572267d9aa9c31730f24d","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-04T07:57:52Z","title_canon_sha256":"aa8803e8491721d8b8f0028ced8daf34f97ab3dd488b7830c07a2528693f53ac"},"schema_version":"1.0","source":{"id":"2402.02387","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.02387","created_at":"2026-07-05T07:41:48Z"},{"alias_kind":"arxiv_version","alias_value":"2402.02387v1","created_at":"2026-07-05T07:41:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.02387","created_at":"2026-07-05T07:41:48Z"},{"alias_kind":"pith_short_12","alias_value":"AJ5NI4GMI6CJ","created_at":"2026-07-05T07:41:48Z"},{"alias_kind":"pith_short_16","alias_value":"AJ5NI4GMI6CJLMOC","created_at":"2026-07-05T07:41:48Z"},{"alias_kind":"pith_short_8","alias_value":"AJ5NI4GM","created_at":"2026-07-05T07:41:48Z"}],"graph_snapshots":[{"event_id":"sha256:c71cc37fdc2534a031bc8dd7d7604fb0dd53f8b043bb4891599ba0cf8b6c7244","target":"graph","created_at":"2026-07-05T07:41:48Z","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/2402.02387/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to manage body-environment interactions without explicit control, and (ii) uses a simple 3-layer neural network to learn to walk after only 2 minutes of 'natural' motor babbling (i.e., an exploration strategy that is compatible with leg and task dynamics; akin to childsplay). This brain-body collaboration first learns to produce feet cyclical movements 'in air' ","authors_text":"Dar\\'io Urbina-Mel\\'endez, Francisco J. Valero-Cuevas, Hesam Azadjou","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-04T07:57:52Z","title":"Brain-Body-Task Co-Adaptation can Improve Autonomous Learning and Speed of Bipedal Walking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.02387","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":"sha256:61c879935a2333fa8a4fb4318973e54193048a2fc3b5a3a1b49adb0b8100c52e","target":"record","created_at":"2026-07-05T07:41:48Z","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":"a9a04cf6a94cb950ba43cb9135246664a8b419f1766572267d9aa9c31730f24d","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-04T07:57:52Z","title_canon_sha256":"aa8803e8491721d8b8f0028ced8daf34f97ab3dd488b7830c07a2528693f53ac"},"schema_version":"1.0","source":{"id":"2402.02387","kind":"arxiv","version":1}},"canonical_sha256":"027ad470cc478495b1c2445790f63d2a0a37cae874dfbb20a80d3548f30a4820","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"027ad470cc478495b1c2445790f63d2a0a37cae874dfbb20a80d3548f30a4820","first_computed_at":"2026-07-05T07:41:48.689323Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:41:48.689323Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"l3Zj0AKPwH9mTiKHiasTBeCO38xRwymmyEXJ3QFWTBhoptICf+ObTS2b4DH/VkfcUHi9M3iLTOQW7JuiF+7ZDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:41:48.689774Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.02387","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:61c879935a2333fa8a4fb4318973e54193048a2fc3b5a3a1b49adb0b8100c52e","sha256:c71cc37fdc2534a031bc8dd7d7604fb0dd53f8b043bb4891599ba0cf8b6c7244"],"state_sha256":"381473ae666d5bca84ee4cb50a3d22277793538385962dd9cb3ad7658cf6dc3b"}