{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:BIICODPPWZW3QJZC27LVPIEY4A","short_pith_number":"pith:BIICODPP","canonical_record":{"source":{"id":"1302.6436","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-26T13:59:47Z","cross_cats_sorted":["cs.SE"],"title_canon_sha256":"b978876f9de4bcf02c2b22a66cbe0ea8f212b49583e6d172ddec14e0448422c2","abstract_canon_sha256":"71fb0fd56ab919815b1a3ec96114865839d88f1f623cb12cf481da0d621c5d72"},"schema_version":"1.0"},"canonical_sha256":"0a10270defb66db82722d7d757a098e0305ac9778d1c7070f57c082a7e616550","source":{"kind":"arxiv","id":"1302.6436","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1302.6436","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"arxiv_version","alias_value":"1302.6436v1","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1302.6436","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"pith_short_12","alias_value":"BIICODPPWZW3","created_at":"2026-05-18T12:27:38Z"},{"alias_kind":"pith_short_16","alias_value":"BIICODPPWZW3QJZC","created_at":"2026-05-18T12:27:38Z"},{"alias_kind":"pith_short_8","alias_value":"BIICODPP","created_at":"2026-05-18T12:27:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:BIICODPPWZW3QJZC27LVPIEY4A","target":"record","payload":{"canonical_record":{"source":{"id":"1302.6436","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-26T13:59:47Z","cross_cats_sorted":["cs.SE"],"title_canon_sha256":"b978876f9de4bcf02c2b22a66cbe0ea8f212b49583e6d172ddec14e0448422c2","abstract_canon_sha256":"71fb0fd56ab919815b1a3ec96114865839d88f1f623cb12cf481da0d621c5d72"},"schema_version":"1.0"},"canonical_sha256":"0a10270defb66db82722d7d757a098e0305ac9778d1c7070f57c082a7e616550","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:32:29.228113Z","signature_b64":"uXdeK/lrhOqnTh/Pz8n5RYQKPVhxHFfOHqxjgpkqIFMcZg2asDyD14scHVV9t24QuRwVYOP923oFkI7+dSAHCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0a10270defb66db82722d7d757a098e0305ac9778d1c7070f57c082a7e616550","last_reissued_at":"2026-05-18T03:32:29.227567Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:32:29.227567Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1302.6436","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":"2026-05-18T03:32:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8gHnPzGNWGgSWjUG68MK7ogcNYphr1UBR4XO6/+PSAVP1jevg7wxUIkicOk1/qrBfotOpTEu3fhpM5hPHtcwCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T07:37:23.584633Z"},"content_sha256":"566494a37ebc3b3bd28fbb5d6453882eac8e07d821e1c685adf0ccbc45ad226b","schema_version":"1.0","event_id":"sha256:566494a37ebc3b3bd28fbb5d6453882eac8e07d821e1c685adf0ccbc45ad226b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:BIICODPPWZW3QJZC27LVPIEY4A","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Domain-Specific Language for Rich Motor Skill Architectures","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SE"],"primary_cat":"cs.RO","authors_text":"Arne Nordmann, Sebastian Wrede","submitted_at":"2013-02-26T13:59:47Z","abstract_excerpt":"Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements. This paper reports on work in progress in this area which aims to improve the research and experimentation process in a collaborative research project developing motor skill architectures for compliant robots. Our goal is to establish a model-driven development process throughout the project around a domain-specific language (DSL) facilitating the compact descr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1302.6436","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":""},"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":"2026-05-18T03:32:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4pDF6MC6l1WNzOH1oYfzlXd0+hLlaR6zaSE1U3piX8vmiIaUkh3Bku+dO50ZE1ETAWxBi36lGVC4ixcpjQKUDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T07:37:23.585534Z"},"content_sha256":"5c3a59d14c0d4f0d822474ee6485cb430046618cfad9e8d998bcc6179a35afbf","schema_version":"1.0","event_id":"sha256:5c3a59d14c0d4f0d822474ee6485cb430046618cfad9e8d998bcc6179a35afbf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BIICODPPWZW3QJZC27LVPIEY4A/bundle.json","state_url":"https://pith.science/pith/BIICODPPWZW3QJZC27LVPIEY4A/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BIICODPPWZW3QJZC27LVPIEY4A/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":"2026-05-31T07:37:23Z","links":{"resolver":"https://pith.science/pith/BIICODPPWZW3QJZC27LVPIEY4A","bundle":"https://pith.science/pith/BIICODPPWZW3QJZC27LVPIEY4A/bundle.json","state":"https://pith.science/pith/BIICODPPWZW3QJZC27LVPIEY4A/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BIICODPPWZW3QJZC27LVPIEY4A/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:BIICODPPWZW3QJZC27LVPIEY4A","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":"71fb0fd56ab919815b1a3ec96114865839d88f1f623cb12cf481da0d621c5d72","cross_cats_sorted":["cs.SE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-26T13:59:47Z","title_canon_sha256":"b978876f9de4bcf02c2b22a66cbe0ea8f212b49583e6d172ddec14e0448422c2"},"schema_version":"1.0","source":{"id":"1302.6436","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1302.6436","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"arxiv_version","alias_value":"1302.6436v1","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1302.6436","created_at":"2026-05-18T03:32:29Z"},{"alias_kind":"pith_short_12","alias_value":"BIICODPPWZW3","created_at":"2026-05-18T12:27:38Z"},{"alias_kind":"pith_short_16","alias_value":"BIICODPPWZW3QJZC","created_at":"2026-05-18T12:27:38Z"},{"alias_kind":"pith_short_8","alias_value":"BIICODPP","created_at":"2026-05-18T12:27:38Z"}],"graph_snapshots":[{"event_id":"sha256:5c3a59d14c0d4f0d822474ee6485cb430046618cfad9e8d998bcc6179a35afbf","target":"graph","created_at":"2026-05-18T03:32:29Z","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":"Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements. This paper reports on work in progress in this area which aims to improve the research and experimentation process in a collaborative research project developing motor skill architectures for compliant robots. Our goal is to establish a model-driven development process throughout the project around a domain-specific language (DSL) facilitating the compact descr","authors_text":"Arne Nordmann, Sebastian Wrede","cross_cats":["cs.SE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-26T13:59:47Z","title":"A Domain-Specific Language for Rich Motor Skill Architectures"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1302.6436","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":"sha256:566494a37ebc3b3bd28fbb5d6453882eac8e07d821e1c685adf0ccbc45ad226b","target":"record","created_at":"2026-05-18T03:32:29Z","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":"71fb0fd56ab919815b1a3ec96114865839d88f1f623cb12cf481da0d621c5d72","cross_cats_sorted":["cs.SE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-26T13:59:47Z","title_canon_sha256":"b978876f9de4bcf02c2b22a66cbe0ea8f212b49583e6d172ddec14e0448422c2"},"schema_version":"1.0","source":{"id":"1302.6436","kind":"arxiv","version":1}},"canonical_sha256":"0a10270defb66db82722d7d757a098e0305ac9778d1c7070f57c082a7e616550","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0a10270defb66db82722d7d757a098e0305ac9778d1c7070f57c082a7e616550","first_computed_at":"2026-05-18T03:32:29.227567Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:32:29.227567Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uXdeK/lrhOqnTh/Pz8n5RYQKPVhxHFfOHqxjgpkqIFMcZg2asDyD14scHVV9t24QuRwVYOP923oFkI7+dSAHCA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:32:29.228113Z","signed_message":"canonical_sha256_bytes"},"source_id":"1302.6436","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:566494a37ebc3b3bd28fbb5d6453882eac8e07d821e1c685adf0ccbc45ad226b","sha256:5c3a59d14c0d4f0d822474ee6485cb430046618cfad9e8d998bcc6179a35afbf"],"state_sha256":"45c1582824aa4785af4f73cd27068dc5e2011180cebfc42e52412c2e8560df44"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7YWNW5oZqu/vjkAXbdgE2iA28bfFY80qSoI97LVLs9p+QNXpHMw0nnzGdTJs+9WTCJvGGiaZx2mHEZxNPAYlBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T07:37:23.589086Z","bundle_sha256":"eff97f1f0fbf4e39e78353a84c81d1989cbd13000c4c3f09c6d59cc8a195002b"}}