{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:LRPUEFRXWD6MIVSCYPLXTQVHKJ","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":"b18f3d7ffaa3bb88fa9784c3dd01b577d492810874f20c4b2f3e3f76abc52881","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T07:24:36Z","title_canon_sha256":"9344eac8f469e0895d11258c256292c94d72ab89e9c30deea8fe2230775e4a87"},"schema_version":"1.0","source":{"id":"2508.12681","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.12681","created_at":"2026-06-12T01:09:12Z"},{"alias_kind":"arxiv_version","alias_value":"2508.12681v3","created_at":"2026-06-12T01:09:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.12681","created_at":"2026-06-12T01:09:12Z"},{"alias_kind":"pith_short_12","alias_value":"LRPUEFRXWD6M","created_at":"2026-06-12T01:09:12Z"},{"alias_kind":"pith_short_16","alias_value":"LRPUEFRXWD6MIVSC","created_at":"2026-06-12T01:09:12Z"},{"alias_kind":"pith_short_8","alias_value":"LRPUEFRX","created_at":"2026-06-12T01:09:12Z"}],"graph_snapshots":[{"event_id":"sha256:58515520664cdbb0f4b10eecd6745ea8f631939f7502a0cedd079b4831f47ce7","target":"graph","created_at":"2026-06-12T01:09:12Z","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/2508.12681/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like Koopman-operator-based methods have been proposed, they typically lack adaptability and cannot reconstruct the full robot shape, limiting their applicability. This work introduces a real-time-capable nonlinear model-predictive control (MPC) framework for SCRs based on a domain-decoupled physics-informed neural network (DD-PINN) with adaptable bending stiffness","authors_text":"Henrik Krauss, Johann Licher, Max Bartholdt, Moritz Schappler, Thomas Seel, Tim-Lukas Habich","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T07:24:36Z","title":"Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.12681","kind":"arxiv","version":3},"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":"sha256:014a377a8b9d74ab9655894846231367df55256398f91a22150847407ab353d9","target":"record","created_at":"2026-06-12T01:09:12Z","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":"b18f3d7ffaa3bb88fa9784c3dd01b577d492810874f20c4b2f3e3f76abc52881","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-18T07:24:36Z","title_canon_sha256":"9344eac8f469e0895d11258c256292c94d72ab89e9c30deea8fe2230775e4a87"},"schema_version":"1.0","source":{"id":"2508.12681","kind":"arxiv","version":3}},"canonical_sha256":"5c5f421637b0fcc45642c3d779c2a7525b450f695b53a28e2abd37975b9dfffe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5c5f421637b0fcc45642c3d779c2a7525b450f695b53a28e2abd37975b9dfffe","first_computed_at":"2026-06-12T01:09:12.284806Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-12T01:09:12.284806Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Fn6WASNEGj/SKdpkap39WdJ9/WnwfISwNrbt4+FG5m0wamGSDgmtedW94UK9LtrSliM7bhB0Yky1aGtw76PVDQ==","signature_status":"signed_v1","signed_at":"2026-06-12T01:09:12.285837Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.12681","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:014a377a8b9d74ab9655894846231367df55256398f91a22150847407ab353d9","sha256:58515520664cdbb0f4b10eecd6745ea8f631939f7502a0cedd079b4831f47ce7"],"state_sha256":"d48da5ecf862ff35a4ae8ab734561bccc1025cb5f824e4556f31ef78452f6438"}