{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LIMYG7AKKO2Q4WHV2UTRUQ42BQ","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":"f6f844e52a6c6fdd0ad5d98841304afaf0e69bcc9a29c402b984df7d8cc8dcee","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T07:57:01Z","title_canon_sha256":"0fa69869cd114471ad7bad934bf617421ae964b78380e7658f39c1d8ebf81862"},"schema_version":"1.0","source":{"id":"2407.01050","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.01050","created_at":"2026-07-05T08:38:42Z"},{"alias_kind":"arxiv_version","alias_value":"2407.01050v1","created_at":"2026-07-05T08:38:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.01050","created_at":"2026-07-05T08:38:42Z"},{"alias_kind":"pith_short_12","alias_value":"LIMYG7AKKO2Q","created_at":"2026-07-05T08:38:42Z"},{"alias_kind":"pith_short_16","alias_value":"LIMYG7AKKO2Q4WHV","created_at":"2026-07-05T08:38:42Z"},{"alias_kind":"pith_short_8","alias_value":"LIMYG7AK","created_at":"2026-07-05T08:38:42Z"}],"graph_snapshots":[{"event_id":"sha256:b05d8a8616d1ff47c90075fda074e511dff90b88e97e96a52d66bf028cbf47fd","target":"graph","created_at":"2026-07-05T08:38:42Z","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/2407.01050/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained locomotion from a design and learning perspective inspired by evolutionary morphology, aiming to integrate the concept of `intelligent design under constraints' - hereafter referred to as constraint-driven design intelligence - in developing modern robotic limbs with superior energy efficiency. We propose a 3D-printable design of robotic limbs parametrically ","authors_text":"Bangchao Huang, Chaoyang Song, Chuye Zhang, Fang Wan, Guojing Huang, Hui Deng, Jianuo Qiu, Jiayi Yin, Nuofan Qiu, Pengxi Gu, Wei Zhang, Yenan Chen, Zishang Zhang","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T07:57:01Z","title":"Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.01050","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:c60fd033b673cf4c586ea3bd70fc5d4e3e64ec05d8fcdc946d88b83c61822cb6","target":"record","created_at":"2026-07-05T08:38:42Z","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":"f6f844e52a6c6fdd0ad5d98841304afaf0e69bcc9a29c402b984df7d8cc8dcee","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-01T07:57:01Z","title_canon_sha256":"0fa69869cd114471ad7bad934bf617421ae964b78380e7658f39c1d8ebf81862"},"schema_version":"1.0","source":{"id":"2407.01050","kind":"arxiv","version":1}},"canonical_sha256":"5a19837c0a53b50e58f5d5271a439a0c37a1a87a857ed2520d520d680170c1a9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5a19837c0a53b50e58f5d5271a439a0c37a1a87a857ed2520d520d680170c1a9","first_computed_at":"2026-07-05T08:38:42.278473Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:38:42.278473Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"g1NaDQM4sp6jKYVoq3KI3ESBQJII1GZBrRFJhn/fHBQXWyuc6OErjz39n0buPwF2vBxLrgMNxmfXgkBKMrfdCg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:38:42.279034Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.01050","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c60fd033b673cf4c586ea3bd70fc5d4e3e64ec05d8fcdc946d88b83c61822cb6","sha256:b05d8a8616d1ff47c90075fda074e511dff90b88e97e96a52d66bf028cbf47fd"],"state_sha256":"6f7ac55c4bc2b5f83c4b336b3b15e5e25f9561ffb4be71d8600f9e02c45088c9"}