{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GLEF7ZNVEFR4PHMTKSM3T4OV56","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":"26dfbc266346852ebe14f4771d63b4576bd5a2ad9938e5a4d1d700002a148565","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T21:53:53Z","title_canon_sha256":"9333f7c55ff45cbf98d72a8ab8416157fe0fcbbc189c6aba1de0a3c02497df99"},"schema_version":"1.0","source":{"id":"2606.20958","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.20958","created_at":"2026-06-23T01:12:23Z"},{"alias_kind":"arxiv_version","alias_value":"2606.20958v1","created_at":"2026-06-23T01:12:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.20958","created_at":"2026-06-23T01:12:23Z"},{"alias_kind":"pith_short_12","alias_value":"GLEF7ZNVEFR4","created_at":"2026-06-23T01:12:23Z"},{"alias_kind":"pith_short_16","alias_value":"GLEF7ZNVEFR4PHMT","created_at":"2026-06-23T01:12:23Z"},{"alias_kind":"pith_short_8","alias_value":"GLEF7ZNV","created_at":"2026-06-23T01:12:23Z"}],"graph_snapshots":[{"event_id":"sha256:5c4e07ff7f48fc27097527fa91154cf9195678fb184e7475ac0c178c77c0a757","target":"graph","created_at":"2026-06-23T01:12:23Z","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/2606.20958/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-demanding, and their expressiveness is limited, whereas data-driven models lack interpretability and physical consistency. This work aims to overcome these challenges by introducing a port-Hamiltonian Gaussian Process Regression framework for learning and simulating the dynamics of planar, rod-like soft robots. In detail, the proposed model integrates Cosserat rod theory and Hamiltonian physics with data-driven inferenc","authors_text":"Eric J. Barth, Mohammad Ali, Nithin Senthur Kumar, Thomas Beckers","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T21:53:53Z","title":"Learning-Based Modeling of Soft Robots via Cosserat Rod Theory"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.20958","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":"sha256:2d9b34389bdc62c407e05cc33ba1cd74e783deb158ba1340fcc9d23588f63083","target":"record","created_at":"2026-06-23T01:12:23Z","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":"26dfbc266346852ebe14f4771d63b4576bd5a2ad9938e5a4d1d700002a148565","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T21:53:53Z","title_canon_sha256":"9333f7c55ff45cbf98d72a8ab8416157fe0fcbbc189c6aba1de0a3c02497df99"},"schema_version":"1.0","source":{"id":"2606.20958","kind":"arxiv","version":1}},"canonical_sha256":"32c85fe5b52163c79d935499b9f1d5ef992c36319a39f4e8fbeb29bb50ad8105","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32c85fe5b52163c79d935499b9f1d5ef992c36319a39f4e8fbeb29bb50ad8105","first_computed_at":"2026-06-23T01:12:23.262574Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T01:12:23.262574Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6rI0IuN9dqY23gS9HJms4Gkwobx6wA0GKAjDC4KA1VEgXUTqwpVSG7pfqmmvBcyqmjuJzBX+bWcKEKCSuKUCAA==","signature_status":"signed_v1","signed_at":"2026-06-23T01:12:23.263101Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.20958","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2d9b34389bdc62c407e05cc33ba1cd74e783deb158ba1340fcc9d23588f63083","sha256:5c4e07ff7f48fc27097527fa91154cf9195678fb184e7475ac0c178c77c0a757"],"state_sha256":"316b2275b0c482880023c4dc07dd7b8570eed5a49be176fc16f7d77d50ccb59b"}