{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:AZ7MLPSXRQOTDHR74KFP4ZRMHC","short_pith_number":"pith:AZ7MLPSX","canonical_record":{"source":{"id":"2403.10303","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-15T13:45:27Z","cross_cats_sorted":[],"title_canon_sha256":"cb3631395ab4ac6d5629b566635eda5b4550590399b76f0cadb41e127089b8d9","abstract_canon_sha256":"9d6df6097640a765f3caf7638cb9b577cbea7ff70297eba58fdd8e91fe1675c8"},"schema_version":"1.0"},"canonical_sha256":"067ec5be578c1d319e3fe28afe662c38ac39b52765c1a3b59f0f97b56f12b511","source":{"kind":"arxiv","id":"2403.10303","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.10303","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"arxiv_version","alias_value":"2403.10303v1","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.10303","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_12","alias_value":"AZ7MLPSXRQOT","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_16","alias_value":"AZ7MLPSXRQOTDHR7","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_8","alias_value":"AZ7MLPSX","created_at":"2026-07-05T07:56:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:AZ7MLPSXRQOTDHR74KFP4ZRMHC","target":"record","payload":{"canonical_record":{"source":{"id":"2403.10303","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-15T13:45:27Z","cross_cats_sorted":[],"title_canon_sha256":"cb3631395ab4ac6d5629b566635eda5b4550590399b76f0cadb41e127089b8d9","abstract_canon_sha256":"9d6df6097640a765f3caf7638cb9b577cbea7ff70297eba58fdd8e91fe1675c8"},"schema_version":"1.0"},"canonical_sha256":"067ec5be578c1d319e3fe28afe662c38ac39b52765c1a3b59f0f97b56f12b511","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:56:33.145189Z","signature_b64":"49HwB5k7b6u1LX77stSxtwn5uMNqK/08iYaRbep0M5IacoFkxfuIDeD20bEGQ3CEEc6JpaGBQFdDh7vGN7J7Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"067ec5be578c1d319e3fe28afe662c38ac39b52765c1a3b59f0f97b56f12b511","last_reissued_at":"2026-07-05T07:56:33.144788Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:56:33.144788Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.10303","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":"2026-07-05T07:56:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Jlk35dsNEArA4q8DDzZIEiVh1bl9mDmgASntQlAJ159VfbwSkiiZi43qcz8YeEg4Q2uQcu+hkHd+sGsmiyjpCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:42:44.515305Z"},"content_sha256":"a6aca30e6043c0c40bc728a78c75017fc8d272ef79ca0981f798d4eb1d80d89e","schema_version":"1.0","event_id":"sha256:a6aca30e6043c0c40bc728a78c75017fc8d272ef79ca0981f798d4eb1d80d89e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:AZ7MLPSXRQOTDHR74KFP4ZRMHC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edgar Buchanan, Emma Hart, L\\'eni K. Le Goff","submitted_at":"2024-03-15T13:45:27Z","abstract_excerpt":"In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the evolution of robots that can be physically created rather than just simulated, in a rich morphological space that includes a voxel-based chassis, wheels, legs and sensors. On the one hand, this space offers a high degree of liberty in the range of robots that can be produced, while on the other hand introduces a complexity rarely dealt with in previous works relatin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.10303","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/2403.10303/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":"2026-07-05T07:56:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5Z19EWrTjKNiQxReYB9woi/r4gYB2FavLRSSSyi4G3JK0k0nQDmTbWN4HYKhVepaBsqlB3zcRQ9RcHCixGnbAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T17:42:44.515703Z"},"content_sha256":"7fde0091aac0f2f864afe60d2b63abc30d66769afcb1770e8458eb8b951a582f","schema_version":"1.0","event_id":"sha256:7fde0091aac0f2f864afe60d2b63abc30d66769afcb1770e8458eb8b951a582f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/bundle.json","state_url":"https://pith.science/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/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":"2026-07-06T17:42:44Z","links":{"resolver":"https://pith.science/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC","bundle":"https://pith.science/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/bundle.json","state":"https://pith.science/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AZ7MLPSXRQOTDHR74KFP4ZRMHC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:AZ7MLPSXRQOTDHR74KFP4ZRMHC","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":"9d6df6097640a765f3caf7638cb9b577cbea7ff70297eba58fdd8e91fe1675c8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-15T13:45:27Z","title_canon_sha256":"cb3631395ab4ac6d5629b566635eda5b4550590399b76f0cadb41e127089b8d9"},"schema_version":"1.0","source":{"id":"2403.10303","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.10303","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"arxiv_version","alias_value":"2403.10303v1","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.10303","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_12","alias_value":"AZ7MLPSXRQOT","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_16","alias_value":"AZ7MLPSXRQOTDHR7","created_at":"2026-07-05T07:56:33Z"},{"alias_kind":"pith_short_8","alias_value":"AZ7MLPSX","created_at":"2026-07-05T07:56:33Z"}],"graph_snapshots":[{"event_id":"sha256:7fde0091aac0f2f864afe60d2b63abc30d66769afcb1770e8458eb8b951a582f","target":"graph","created_at":"2026-07-05T07:56:33Z","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/2403.10303/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the evolution of robots that can be physically created rather than just simulated, in a rich morphological space that includes a voxel-based chassis, wheels, legs and sensors. On the one hand, this space offers a high degree of liberty in the range of robots that can be produced, while on the other hand introduces a complexity rarely dealt with in previous works relatin","authors_text":"Edgar Buchanan, Emma Hart, L\\'eni K. Le Goff","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-15T13:45:27Z","title":"An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.10303","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:a6aca30e6043c0c40bc728a78c75017fc8d272ef79ca0981f798d4eb1d80d89e","target":"record","created_at":"2026-07-05T07:56:33Z","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":"9d6df6097640a765f3caf7638cb9b577cbea7ff70297eba58fdd8e91fe1675c8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-15T13:45:27Z","title_canon_sha256":"cb3631395ab4ac6d5629b566635eda5b4550590399b76f0cadb41e127089b8d9"},"schema_version":"1.0","source":{"id":"2403.10303","kind":"arxiv","version":1}},"canonical_sha256":"067ec5be578c1d319e3fe28afe662c38ac39b52765c1a3b59f0f97b56f12b511","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"067ec5be578c1d319e3fe28afe662c38ac39b52765c1a3b59f0f97b56f12b511","first_computed_at":"2026-07-05T07:56:33.144788Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:56:33.144788Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"49HwB5k7b6u1LX77stSxtwn5uMNqK/08iYaRbep0M5IacoFkxfuIDeD20bEGQ3CEEc6JpaGBQFdDh7vGN7J7Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:56:33.145189Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.10303","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a6aca30e6043c0c40bc728a78c75017fc8d272ef79ca0981f798d4eb1d80d89e","sha256:7fde0091aac0f2f864afe60d2b63abc30d66769afcb1770e8458eb8b951a582f"],"state_sha256":"04194a05ff51d2042eb0a14231b597c16da86bce0ae84658cd70f8952771eba2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cyW8q/uWdhKvCRmb20fJX2q8xJ01UUR1V/K3UGQBo5jiKhPIiY+I0Vu59ObtDhBA4AcPNGqrp04plkg+a55vAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T17:42:44.517608Z","bundle_sha256":"502accd3daaa604ca6b8c08e4ee94098cf6627c63b99b4c017a0a0432069646b"}}