{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:KXKJWMCCWHFLJPCKTHVLO5EXWY","short_pith_number":"pith:KXKJWMCC","canonical_record":{"source":{"id":"2505.05753","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-09T03:25:43Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"400dd18b9c3242ff9682078727bfd27ae17a38ec1676d303b8ca9887aee96e4a","abstract_canon_sha256":"ef643f5c71aea5df88d1d5a541b2cde3dbd76b81476bb4a58f2081fdee1aab0f"},"schema_version":"1.0"},"canonical_sha256":"55d49b3042b1cab4bc4a99eab77497b614b805382ffb3be0e3d421abbcd80f7e","source":{"kind":"arxiv","id":"2505.05753","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.05753","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"arxiv_version","alias_value":"2505.05753v2","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.05753","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_12","alias_value":"KXKJWMCCWHFL","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_16","alias_value":"KXKJWMCCWHFLJPCK","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_8","alias_value":"KXKJWMCC","created_at":"2026-07-05T12:01:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:KXKJWMCCWHFLJPCKTHVLO5EXWY","target":"record","payload":{"canonical_record":{"source":{"id":"2505.05753","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-09T03:25:43Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"400dd18b9c3242ff9682078727bfd27ae17a38ec1676d303b8ca9887aee96e4a","abstract_canon_sha256":"ef643f5c71aea5df88d1d5a541b2cde3dbd76b81476bb4a58f2081fdee1aab0f"},"schema_version":"1.0"},"canonical_sha256":"55d49b3042b1cab4bc4a99eab77497b614b805382ffb3be0e3d421abbcd80f7e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:01:22.703991Z","signature_b64":"dRhyO39hjEJORZ2ZDDJSHxn8shGkz2sWeJwJBaig7M6aiW1KpTx6QETf1OTkPFtwo1i7eTBbHQIDNu7oh6gyAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"55d49b3042b1cab4bc4a99eab77497b614b805382ffb3be0e3d421abbcd80f7e","last_reissued_at":"2026-07-05T12:01:22.703491Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:01:22.703491Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.05753","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:01:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q11IYAih9MfcNYWcXoYBzdSsJuP84D40jvWHVN3rKHwNTJ+gO6wlXbTfz4lw0PHm8RL0vIyXnD2NkXnk2p8PBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-23T13:24:34.763091Z"},"content_sha256":"f95546a3727459ecfd4e1ad7c64876e939db9fd79b64695556df7d3d572f1a32","schema_version":"1.0","event_id":"sha256:f95546a3727459ecfd4e1ad7c64876e939db9fd79b64695556df7d3d572f1a32"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:KXKJWMCCWHFLJPCKTHVLO5EXWY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Embodiment Scaling Laws in Robot Locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Bo Ai, Dichen Li, Hao Su, Henrik I. Christensen, Jan Peters, K. Fay, Liu Dai, Nico Bohlinger, Tongzhou Mu, Zhanxin Wu","submitted_at":"2025-05-09T03:25:43Z","abstract_excerpt":"Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodiment scaling laws, the hypothesis that increasing the number of training embodiments improves generalization to unseen ones, using robot locomotion as a test bed. We procedurally generate ~1,000 embodiments with topological, geometric, and joint-level kinematic variations, and train policies on random subsets. We observe positive scaling trends supporting the hypothesis, and find that embodiment scaling enables substa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.05753","kind":"arxiv","version":2},"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/2505.05753/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":"2026-07-05T12:01:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WbwE0u/q59YOA3BHj7Uv4VNiVdoahKkA06xoKsM+OOSCC3mp5Ps1G5dkLe0t9xBZlSKVCsX6Uc4sSq++SzwDBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-23T13:24:34.763494Z"},"content_sha256":"375935fe0cf1223acbcd2ad6ed76530e377ede5640c5d8b5fb23fb73bb0947a3","schema_version":"1.0","event_id":"sha256:375935fe0cf1223acbcd2ad6ed76530e377ede5640c5d8b5fb23fb73bb0947a3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/bundle.json","state_url":"https://pith.science/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/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":"2026-07-23T13:24:34Z","links":{"resolver":"https://pith.science/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY","bundle":"https://pith.science/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/bundle.json","state":"https://pith.science/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KXKJWMCCWHFLJPCKTHVLO5EXWY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:KXKJWMCCWHFLJPCKTHVLO5EXWY","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":"ef643f5c71aea5df88d1d5a541b2cde3dbd76b81476bb4a58f2081fdee1aab0f","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-09T03:25:43Z","title_canon_sha256":"400dd18b9c3242ff9682078727bfd27ae17a38ec1676d303b8ca9887aee96e4a"},"schema_version":"1.0","source":{"id":"2505.05753","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.05753","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"arxiv_version","alias_value":"2505.05753v2","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.05753","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_12","alias_value":"KXKJWMCCWHFL","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_16","alias_value":"KXKJWMCCWHFLJPCK","created_at":"2026-07-05T12:01:22Z"},{"alias_kind":"pith_short_8","alias_value":"KXKJWMCC","created_at":"2026-07-05T12:01:22Z"}],"graph_snapshots":[{"event_id":"sha256:375935fe0cf1223acbcd2ad6ed76530e377ede5640c5d8b5fb23fb73bb0947a3","target":"graph","created_at":"2026-07-05T12:01:22Z","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/2505.05753/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodiment scaling laws, the hypothesis that increasing the number of training embodiments improves generalization to unseen ones, using robot locomotion as a test bed. We procedurally generate ~1,000 embodiments with topological, geometric, and joint-level kinematic variations, and train policies on random subsets. We observe positive scaling trends supporting the hypothesis, and find that embodiment scaling enables substa","authors_text":"Bo Ai, Dichen Li, Hao Su, Henrik I. Christensen, Jan Peters, K. Fay, Liu Dai, Nico Bohlinger, Tongzhou Mu, Zhanxin Wu","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-09T03:25:43Z","title":"Towards Embodiment Scaling Laws in Robot Locomotion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.05753","kind":"arxiv","version":2},"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:f95546a3727459ecfd4e1ad7c64876e939db9fd79b64695556df7d3d572f1a32","target":"record","created_at":"2026-07-05T12:01:22Z","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":"ef643f5c71aea5df88d1d5a541b2cde3dbd76b81476bb4a58f2081fdee1aab0f","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-09T03:25:43Z","title_canon_sha256":"400dd18b9c3242ff9682078727bfd27ae17a38ec1676d303b8ca9887aee96e4a"},"schema_version":"1.0","source":{"id":"2505.05753","kind":"arxiv","version":2}},"canonical_sha256":"55d49b3042b1cab4bc4a99eab77497b614b805382ffb3be0e3d421abbcd80f7e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"55d49b3042b1cab4bc4a99eab77497b614b805382ffb3be0e3d421abbcd80f7e","first_computed_at":"2026-07-05T12:01:22.703491Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:01:22.703491Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dRhyO39hjEJORZ2ZDDJSHxn8shGkz2sWeJwJBaig7M6aiW1KpTx6QETf1OTkPFtwo1i7eTBbHQIDNu7oh6gyAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T12:01:22.703991Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.05753","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f95546a3727459ecfd4e1ad7c64876e939db9fd79b64695556df7d3d572f1a32","sha256:375935fe0cf1223acbcd2ad6ed76530e377ede5640c5d8b5fb23fb73bb0947a3"],"state_sha256":"7acc4b0fd7130bd0ffedfc1672b62f8c1fab7819caf59649e4818a1e4c55fa01"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tukZXzwdWG7mXsMPutct+SPE5pesxTfwou2A1VCGd4NhK6TaHl8cTd5x4ZPJe6Cf97GGyjE2YJnbYhVRnV9sBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-23T13:24:34.766133Z","bundle_sha256":"3963093332a17e2fff87967b8a94d4c3242ddeeadbb742949b57c93a078833a0"}}