{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SAEXXI33NNXGVQZ5YUKW4ONWHG","short_pith_number":"pith:SAEXXI33","canonical_record":{"source":{"id":"2506.04627","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T04:36:46Z","cross_cats_sorted":["physics.flu-dyn"],"title_canon_sha256":"21c1852660b884065ab38c8344cf10862f9cd52f63f3def6066a1509b7ec2fcf","abstract_canon_sha256":"6e67a95944d4e87e8a767cf4903c0e16c2ac2af5c13a2cb500711429ee234764"},"schema_version":"1.0"},"canonical_sha256":"90097ba37b6b6e6ac33dc5156e39b6398f088f06110be2764cbbf5389ae955b2","source":{"kind":"arxiv","id":"2506.04627","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.04627","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"arxiv_version","alias_value":"2506.04627v1","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.04627","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_12","alias_value":"SAEXXI33NNXG","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_16","alias_value":"SAEXXI33NNXGVQZ5","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_8","alias_value":"SAEXXI33","created_at":"2026-07-05T11:16:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SAEXXI33NNXGVQZ5YUKW4ONWHG","target":"record","payload":{"canonical_record":{"source":{"id":"2506.04627","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T04:36:46Z","cross_cats_sorted":["physics.flu-dyn"],"title_canon_sha256":"21c1852660b884065ab38c8344cf10862f9cd52f63f3def6066a1509b7ec2fcf","abstract_canon_sha256":"6e67a95944d4e87e8a767cf4903c0e16c2ac2af5c13a2cb500711429ee234764"},"schema_version":"1.0"},"canonical_sha256":"90097ba37b6b6e6ac33dc5156e39b6398f088f06110be2764cbbf5389ae955b2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:16:36.630519Z","signature_b64":"j2WcwCFmzt9PDlYDFB5/LUe3hNl5CCuOmznOpWslVW/hoMyb+yVL6UoRnLvLgToYpp/rr62vcNDgszykDneVDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"90097ba37b6b6e6ac33dc5156e39b6398f088f06110be2764cbbf5389ae955b2","last_reissued_at":"2026-07-05T11:16:36.630016Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:16:36.630016Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.04627","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":"2026-07-05T11:16:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3vw9lhxXlB5DSUHhN/1sWipfh2Km5Ge2mKiVbX0/BwT6nPGqAoIEnk6wOpcL8aUq1QWr2pGiD2eAUiMPCMKPDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:48:01.534492Z"},"content_sha256":"2eccef9e390bb869acfb4bb280ff3f00694ed95c5bd45d5ab1f068c2681259a6","schema_version":"1.0","event_id":"sha256:2eccef9e390bb869acfb4bb280ff3f00694ed95c5bd45d5ab1f068c2681259a6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SAEXXI33NNXGVQZ5YUKW4ONWHG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enhancing Efficiency and Propulsion in Bio-mimetic Robotic Fish through End-to-End Deep Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.flu-dyn"],"primary_cat":"cs.RO","authors_text":"Boai Sun, Dixia Fan, Haifeng Zhang, Jun Wang, Ning Yang, Weicheng Cui, Xinyu Cui, Yi Zhu","submitted_at":"2025-06-05T04:36:46Z","abstract_excerpt":"Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures to reduce energy costs in underwater robotics, the crucial role of control policies in enhancing efficiency has often been overlooked. In this study, we optimize the motion of a bio-mimetic robotic fish using deep reinforcement learning (DRL) to maximize propulsion efficiency and minimize energy consumption. Our novel DRL approach incorporates extended pressure perception, a transformer model processing sequences of o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.04627","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/2506.04627/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":"2026-07-05T11:16:36Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4BFoS6Q9x795Yc2zEVBcRmdSiDZ5HgW6dS7Jf4vaiIlF6DwYps7HiPaDLAsTjREuy7oLLCsOoUyvUxBL6B6yCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:48:01.534871Z"},"content_sha256":"0f95fb48984d7cac6838c8a4cee36a068fdafe2979e2cc0c1d9547af1b6ba803","schema_version":"1.0","event_id":"sha256:0f95fb48984d7cac6838c8a4cee36a068fdafe2979e2cc0c1d9547af1b6ba803"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/bundle.json","state_url":"https://pith.science/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/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":"2026-07-07T14:48:01Z","links":{"resolver":"https://pith.science/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG","bundle":"https://pith.science/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/bundle.json","state":"https://pith.science/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SAEXXI33NNXGVQZ5YUKW4ONWHG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SAEXXI33NNXGVQZ5YUKW4ONWHG","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":"6e67a95944d4e87e8a767cf4903c0e16c2ac2af5c13a2cb500711429ee234764","cross_cats_sorted":["physics.flu-dyn"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T04:36:46Z","title_canon_sha256":"21c1852660b884065ab38c8344cf10862f9cd52f63f3def6066a1509b7ec2fcf"},"schema_version":"1.0","source":{"id":"2506.04627","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.04627","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"arxiv_version","alias_value":"2506.04627v1","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.04627","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_12","alias_value":"SAEXXI33NNXG","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_16","alias_value":"SAEXXI33NNXGVQZ5","created_at":"2026-07-05T11:16:36Z"},{"alias_kind":"pith_short_8","alias_value":"SAEXXI33","created_at":"2026-07-05T11:16:36Z"}],"graph_snapshots":[{"event_id":"sha256:0f95fb48984d7cac6838c8a4cee36a068fdafe2979e2cc0c1d9547af1b6ba803","target":"graph","created_at":"2026-07-05T11:16:36Z","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/2506.04627/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures to reduce energy costs in underwater robotics, the crucial role of control policies in enhancing efficiency has often been overlooked. In this study, we optimize the motion of a bio-mimetic robotic fish using deep reinforcement learning (DRL) to maximize propulsion efficiency and minimize energy consumption. Our novel DRL approach incorporates extended pressure perception, a transformer model processing sequences of o","authors_text":"Boai Sun, Dixia Fan, Haifeng Zhang, Jun Wang, Ning Yang, Weicheng Cui, Xinyu Cui, Yi Zhu","cross_cats":["physics.flu-dyn"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T04:36:46Z","title":"Enhancing Efficiency and Propulsion in Bio-mimetic Robotic Fish through End-to-End Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.04627","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":"sha256:2eccef9e390bb869acfb4bb280ff3f00694ed95c5bd45d5ab1f068c2681259a6","target":"record","created_at":"2026-07-05T11:16:36Z","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":"6e67a95944d4e87e8a767cf4903c0e16c2ac2af5c13a2cb500711429ee234764","cross_cats_sorted":["physics.flu-dyn"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T04:36:46Z","title_canon_sha256":"21c1852660b884065ab38c8344cf10862f9cd52f63f3def6066a1509b7ec2fcf"},"schema_version":"1.0","source":{"id":"2506.04627","kind":"arxiv","version":1}},"canonical_sha256":"90097ba37b6b6e6ac33dc5156e39b6398f088f06110be2764cbbf5389ae955b2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"90097ba37b6b6e6ac33dc5156e39b6398f088f06110be2764cbbf5389ae955b2","first_computed_at":"2026-07-05T11:16:36.630016Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:16:36.630016Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"j2WcwCFmzt9PDlYDFB5/LUe3hNl5CCuOmznOpWslVW/hoMyb+yVL6UoRnLvLgToYpp/rr62vcNDgszykDneVDg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:16:36.630519Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.04627","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2eccef9e390bb869acfb4bb280ff3f00694ed95c5bd45d5ab1f068c2681259a6","sha256:0f95fb48984d7cac6838c8a4cee36a068fdafe2979e2cc0c1d9547af1b6ba803"],"state_sha256":"69c8b04cd2fc5a22a12ee8d84dd63c0435a9a70d7bcf18d63873f55c0658270a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"psajdmi/sPnJjZ2J2QFEKSr437IdY749F8JdCKw4Ow2jRjH3pnOo4QDBbDB49bcn2GoiP2WL+xBZ3RwQJd3gAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T14:48:01.536871Z","bundle_sha256":"6224c73719254e656dd09a12dcf31ebb463c8b81c8d5202cb4974274c6718e16"}}