{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:VLXCEOJTIIE3PE75XHWIX7I5MA","short_pith_number":"pith:VLXCEOJT","canonical_record":{"source":{"id":"2104.00837","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-02T01:18:15Z","cross_cats_sorted":["cs.GR","cs.RO"],"title_canon_sha256":"c42e6dfac57243e0b28afac291e5663baafd8b31ca5a6681ef77bd790a6cf507","abstract_canon_sha256":"2a977faa0efb9d39ec3c8e764ac835bdadcd9802d983ff0cf989ba2bc8edd897"},"schema_version":"1.0"},"canonical_sha256":"aaee2239334209b793fdb9ec8bfd1d602373f21c8bf20dba6099997a7c648891","source":{"kind":"arxiv","id":"2104.00837","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.00837","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"arxiv_version","alias_value":"2104.00837v2","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.00837","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_12","alias_value":"VLXCEOJTIIE3","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_16","alias_value":"VLXCEOJTIIE3PE75","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_8","alias_value":"VLXCEOJT","created_at":"2026-07-05T02:37:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:VLXCEOJTIIE3PE75XHWIX7I5MA","target":"record","payload":{"canonical_record":{"source":{"id":"2104.00837","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-02T01:18:15Z","cross_cats_sorted":["cs.GR","cs.RO"],"title_canon_sha256":"c42e6dfac57243e0b28afac291e5663baafd8b31ca5a6681ef77bd790a6cf507","abstract_canon_sha256":"2a977faa0efb9d39ec3c8e764ac835bdadcd9802d983ff0cf989ba2bc8edd897"},"schema_version":"1.0"},"canonical_sha256":"aaee2239334209b793fdb9ec8bfd1d602373f21c8bf20dba6099997a7c648891","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:37:58.494691Z","signature_b64":"YSCGPOPsmn9L+00C0tot78bdXz8cbKzBqwtuZ3renPgXr9xGYC5hXDZnhzoceb8fLmDAO1VUmCoIkiLUmb24Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aaee2239334209b793fdb9ec8bfd1d602373f21c8bf20dba6099997a7c648891","last_reissued_at":"2026-07-05T02:37:58.494223Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:37:58.494223Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.00837","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":"2026-07-05T02:37:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mNEBSJ3JeJsgw6EVsRalVQOvK8f/iL6PkjWJ8oG+c5xj7t/pS75eBNjC+Ya4ey/taYBTGBmi1zcUImzavv11Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:04:06.106749Z"},"content_sha256":"4f19886e60846a943469b671ada20271a9f9b7e90af9e855fe94c5cb33f4bee3","schema_version":"1.0","event_id":"sha256:4f19886e60846a943469b671ada20271a9f9b7e90af9e855fe94c5cb33f4bee3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:VLXCEOJTIIE3PE75XHWIX7I5MA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.GR","cs.RO"],"primary_cat":"cs.LG","authors_text":"Andrew Spielberg, John Z. Zhang, Kui Wu, Pingchuan Ma, Robert K. Katzschmann, Tao Du, Wojciech Matusik","submitted_at":"2021-04-02T01:18:15Z","abstract_excerpt":"The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline for co-designing a soft swimmer's geometry and controller. Our pipeline unlocks gradient-based algorithms for discovering novel swimmer designs more efficiently than traditional gradient-free solutions. We propose Wasserstein barycenters as a basis for the geometric design of soft underwater swimmers since it is differentiable and can naturally interpolate between bio-inspired base shapes via optimal transport. By "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.00837","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/2104.00837/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":"2026-07-05T02:37:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nVhckjDawj5mJayCJbHMysDKA3LENYxzKvz9JhDcZkFqiUWsyNRaxf3d5unJmSRQWMyvR84NlaETemNAdbejCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:04:06.107128Z"},"content_sha256":"9afb938ca54f9091cd81b1d58bf8aa1c9122b5bdc4458c5875722421599883ee","schema_version":"1.0","event_id":"sha256:9afb938ca54f9091cd81b1d58bf8aa1c9122b5bdc4458c5875722421599883ee"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/bundle.json","state_url":"https://pith.science/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/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":"2026-07-09T05:04:06Z","links":{"resolver":"https://pith.science/pith/VLXCEOJTIIE3PE75XHWIX7I5MA","bundle":"https://pith.science/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/bundle.json","state":"https://pith.science/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VLXCEOJTIIE3PE75XHWIX7I5MA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:VLXCEOJTIIE3PE75XHWIX7I5MA","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":"2a977faa0efb9d39ec3c8e764ac835bdadcd9802d983ff0cf989ba2bc8edd897","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-02T01:18:15Z","title_canon_sha256":"c42e6dfac57243e0b28afac291e5663baafd8b31ca5a6681ef77bd790a6cf507"},"schema_version":"1.0","source":{"id":"2104.00837","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.00837","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"arxiv_version","alias_value":"2104.00837v2","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.00837","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_12","alias_value":"VLXCEOJTIIE3","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_16","alias_value":"VLXCEOJTIIE3PE75","created_at":"2026-07-05T02:37:58Z"},{"alias_kind":"pith_short_8","alias_value":"VLXCEOJT","created_at":"2026-07-05T02:37:58Z"}],"graph_snapshots":[{"event_id":"sha256:9afb938ca54f9091cd81b1d58bf8aa1c9122b5bdc4458c5875722421599883ee","target":"graph","created_at":"2026-07-05T02:37:58Z","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/2104.00837/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline for co-designing a soft swimmer's geometry and controller. Our pipeline unlocks gradient-based algorithms for discovering novel swimmer designs more efficiently than traditional gradient-free solutions. We propose Wasserstein barycenters as a basis for the geometric design of soft underwater swimmers since it is differentiable and can naturally interpolate between bio-inspired base shapes via optimal transport. By ","authors_text":"Andrew Spielberg, John Z. Zhang, Kui Wu, Pingchuan Ma, Robert K. Katzschmann, Tao Du, Wojciech Matusik","cross_cats":["cs.GR","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-02T01:18:15Z","title":"DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.00837","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":"sha256:4f19886e60846a943469b671ada20271a9f9b7e90af9e855fe94c5cb33f4bee3","target":"record","created_at":"2026-07-05T02:37:58Z","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":"2a977faa0efb9d39ec3c8e764ac835bdadcd9802d983ff0cf989ba2bc8edd897","cross_cats_sorted":["cs.GR","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-04-02T01:18:15Z","title_canon_sha256":"c42e6dfac57243e0b28afac291e5663baafd8b31ca5a6681ef77bd790a6cf507"},"schema_version":"1.0","source":{"id":"2104.00837","kind":"arxiv","version":2}},"canonical_sha256":"aaee2239334209b793fdb9ec8bfd1d602373f21c8bf20dba6099997a7c648891","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aaee2239334209b793fdb9ec8bfd1d602373f21c8bf20dba6099997a7c648891","first_computed_at":"2026-07-05T02:37:58.494223Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:37:58.494223Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YSCGPOPsmn9L+00C0tot78bdXz8cbKzBqwtuZ3renPgXr9xGYC5hXDZnhzoceb8fLmDAO1VUmCoIkiLUmb24Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:37:58.494691Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.00837","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4f19886e60846a943469b671ada20271a9f9b7e90af9e855fe94c5cb33f4bee3","sha256:9afb938ca54f9091cd81b1d58bf8aa1c9122b5bdc4458c5875722421599883ee"],"state_sha256":"16f410f15206365d1224924d9bede356721fa9fc18b5b633e038d7e1f6e8b4d0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Zh1d5lGXW0qBrQZEyJT3Dbj0EXIcuJpplygSnxfSAEa/g/tLWhNythFv9hdBg9QhLlyi3Uut8c8dnZjv3EZIAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:04:06.109487Z","bundle_sha256":"4372bbd3fe0cfc1f48f2b01a50da3d7ebedd0e69778475bdee988895012d3164"}}