{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:S3Q663DLPXVR3ACKEAIQQXHAAP","short_pith_number":"pith:S3Q663DL","canonical_record":{"source":{"id":"2504.12702","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T07:13:37Z","cross_cats_sorted":["cs.NE"],"title_canon_sha256":"39c71af55a7eed646d1b4400158efd0b5c1454f58c9cb9d69f886333feca35d4","abstract_canon_sha256":"fac3e9459c5cde87be8abce58a088df9a790813b7fd6e3772c2a660b4dfb9bef"},"schema_version":"1.0"},"canonical_sha256":"96e1ef6c6b7deb1d804a2011085ce003c5365dfa7cd23c71a17bf303db4a1fe1","source":{"kind":"arxiv","id":"2504.12702","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.12702","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"arxiv_version","alias_value":"2504.12702v1","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.12702","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_12","alias_value":"S3Q663DLPXVR","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_16","alias_value":"S3Q663DLPXVR3ACK","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_8","alias_value":"S3Q663DL","created_at":"2026-07-05T10:50:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:S3Q663DLPXVR3ACKEAIQQXHAAP","target":"record","payload":{"canonical_record":{"source":{"id":"2504.12702","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T07:13:37Z","cross_cats_sorted":["cs.NE"],"title_canon_sha256":"39c71af55a7eed646d1b4400158efd0b5c1454f58c9cb9d69f886333feca35d4","abstract_canon_sha256":"fac3e9459c5cde87be8abce58a088df9a790813b7fd6e3772c2a660b4dfb9bef"},"schema_version":"1.0"},"canonical_sha256":"96e1ef6c6b7deb1d804a2011085ce003c5365dfa7cd23c71a17bf303db4a1fe1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:50:20.846674Z","signature_b64":"htJosirkXdcH+nd3Z3NXPEF0xPIu1dlXNnSQNVGbDu92hRKkzMSxWMZFrRhRZEfAJgvczt3Mzloim+6iwnKkDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96e1ef6c6b7deb1d804a2011085ce003c5365dfa7cd23c71a17bf303db4a1fe1","last_reissued_at":"2026-07-05T10:50:20.846255Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:50:20.846255Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.12702","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":"2026-07-05T10:50:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lsveeOwb8Nh0oOE2wUxZuiFAphHZQt4nAhDRzbGJjlSJbDEmsQ9MVkF20ec2JC7Q/wMrSd2lVMZPzo2PakiYCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T06:13:56.221180Z"},"content_sha256":"e625ddb14f7e48a8185da2c02f6422bc53b6b62a3095c43e68712b2dc962ddaf","schema_version":"1.0","event_id":"sha256:e625ddb14f7e48a8185da2c02f6422bc53b6b62a3095c43e68712b2dc962ddaf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:S3Q663DLPXVR3ACKEAIQQXHAAP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Embodied Neuromorphic Control Applied on a 7-DOF Robotic Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.NE"],"primary_cat":"cs.RO","authors_text":"Chao Xiao, Jichao Yang, Jingyue Zhao, Lei Wang, Xun Xiao, Yaohua Wang, Yuan Li, Ziqi Wang","submitted_at":"2025-04-17T07:13:37Z","abstract_excerpt":"The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque space of robotic systems. Traditional methods for solving it rely on direct physical modeling of robots which is difficult or even impossible due to nonlinearity and external disturbance. Recently, data-based model-learning algorithms are adopted to address this issue. However, they often require manual parameter tuning and high computational costs. Neuromorp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.12702","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2504.12702/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":"2026-07-05T10:50:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iFysGJOcApUiNLobWeTge1CnpLIhi+U1btTzd1kxjSJ1iSFf3bL3tx7mMRbGtfW3oDNawBHnpjCpyY6zHXKEDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T06:13:56.221517Z"},"content_sha256":"2cec10d686f0ec3f66166284db843792fcf70e505fda00c654e2d93f4ae23cdc","schema_version":"1.0","event_id":"sha256:2cec10d686f0ec3f66166284db843792fcf70e505fda00c654e2d93f4ae23cdc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/bundle.json","state_url":"https://pith.science/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/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":"2026-08-20T06:13:56Z","links":{"resolver":"https://pith.science/pith/S3Q663DLPXVR3ACKEAIQQXHAAP","bundle":"https://pith.science/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/bundle.json","state":"https://pith.science/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S3Q663DLPXVR3ACKEAIQQXHAAP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:S3Q663DLPXVR3ACKEAIQQXHAAP","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":"fac3e9459c5cde87be8abce58a088df9a790813b7fd6e3772c2a660b4dfb9bef","cross_cats_sorted":["cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T07:13:37Z","title_canon_sha256":"39c71af55a7eed646d1b4400158efd0b5c1454f58c9cb9d69f886333feca35d4"},"schema_version":"1.0","source":{"id":"2504.12702","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.12702","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"arxiv_version","alias_value":"2504.12702v1","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.12702","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_12","alias_value":"S3Q663DLPXVR","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_16","alias_value":"S3Q663DLPXVR3ACK","created_at":"2026-07-05T10:50:20Z"},{"alias_kind":"pith_short_8","alias_value":"S3Q663DL","created_at":"2026-07-05T10:50:20Z"}],"graph_snapshots":[{"event_id":"sha256:2cec10d686f0ec3f66166284db843792fcf70e505fda00c654e2d93f4ae23cdc","target":"graph","created_at":"2026-07-05T10:50:20Z","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/2504.12702/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque space of robotic systems. Traditional methods for solving it rely on direct physical modeling of robots which is difficult or even impossible due to nonlinearity and external disturbance. Recently, data-based model-learning algorithms are adopted to address this issue. However, they often require manual parameter tuning and high computational costs. Neuromorp","authors_text":"Chao Xiao, Jichao Yang, Jingyue Zhao, Lei Wang, Xun Xiao, Yaohua Wang, Yuan Li, Ziqi Wang","cross_cats":["cs.NE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T07:13:37Z","title":"Embodied Neuromorphic Control Applied on a 7-DOF Robotic Manipulator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.12702","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:e625ddb14f7e48a8185da2c02f6422bc53b6b62a3095c43e68712b2dc962ddaf","target":"record","created_at":"2026-07-05T10:50:20Z","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":"fac3e9459c5cde87be8abce58a088df9a790813b7fd6e3772c2a660b4dfb9bef","cross_cats_sorted":["cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T07:13:37Z","title_canon_sha256":"39c71af55a7eed646d1b4400158efd0b5c1454f58c9cb9d69f886333feca35d4"},"schema_version":"1.0","source":{"id":"2504.12702","kind":"arxiv","version":1}},"canonical_sha256":"96e1ef6c6b7deb1d804a2011085ce003c5365dfa7cd23c71a17bf303db4a1fe1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"96e1ef6c6b7deb1d804a2011085ce003c5365dfa7cd23c71a17bf303db4a1fe1","first_computed_at":"2026-07-05T10:50:20.846255Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:50:20.846255Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"htJosirkXdcH+nd3Z3NXPEF0xPIu1dlXNnSQNVGbDu92hRKkzMSxWMZFrRhRZEfAJgvczt3Mzloim+6iwnKkDA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:50:20.846674Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.12702","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e625ddb14f7e48a8185da2c02f6422bc53b6b62a3095c43e68712b2dc962ddaf","sha256:2cec10d686f0ec3f66166284db843792fcf70e505fda00c654e2d93f4ae23cdc"],"state_sha256":"bcab78e1254ba1c5ec708f54917f97acb1ea7cb7a07ae681e58d9286a6dfa77c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kVpRtOlMVadugkE4EDV8ryEF3BGECq90YqldNVeeFWRYfel4CIGOlLPsmWewAvE/GTbCJ0PH/7GvuKtlSCiVCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T06:13:56.224802Z","bundle_sha256":"f805847bbb8ba7b0ea5aa4058545729d9faa37b471c91cb08024f5eec8edda6e"}}