{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:WZPVZZIZEFWWUBCIDC7GMZRHFO","short_pith_number":"pith:WZPVZZIZ","canonical_record":{"source":{"id":"1711.06605","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-11-17T16:01:27Z","cross_cats_sorted":["cs.NE","cs.RO"],"title_canon_sha256":"7674cba6d3b8a2eb64c173e255aa13ea6ea33a572d20f8dff0753e9ae6ecc29a","abstract_canon_sha256":"8dccd084158999ab659230e6fd017639e0132af9fd0edce6a37081e591b5f4d0"},"schema_version":"1.0"},"canonical_sha256":"b65f5ce519216d6a044818be6666272b8c2684bf6fca2bd1666e5a167a270c4e","source":{"kind":"arxiv","id":"1711.06605","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.06605","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"arxiv_version","alias_value":"1711.06605v1","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.06605","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"pith_short_12","alias_value":"WZPVZZIZEFWW","created_at":"2026-05-18T12:31:53Z"},{"alias_kind":"pith_short_16","alias_value":"WZPVZZIZEFWWUBCI","created_at":"2026-05-18T12:31:53Z"},{"alias_kind":"pith_short_8","alias_value":"WZPVZZIZ","created_at":"2026-05-18T12:31:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:WZPVZZIZEFWWUBCIDC7GMZRHFO","target":"record","payload":{"canonical_record":{"source":{"id":"1711.06605","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-11-17T16:01:27Z","cross_cats_sorted":["cs.NE","cs.RO"],"title_canon_sha256":"7674cba6d3b8a2eb64c173e255aa13ea6ea33a572d20f8dff0753e9ae6ecc29a","abstract_canon_sha256":"8dccd084158999ab659230e6fd017639e0132af9fd0edce6a37081e591b5f4d0"},"schema_version":"1.0"},"canonical_sha256":"b65f5ce519216d6a044818be6666272b8c2684bf6fca2bd1666e5a167a270c4e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:30:18.430760Z","signature_b64":"t5Mmo5WNdWLUL764HRbOzirMUxUxAJkqPoO9WpReDdD/1yG2mY2EGJO6cEeoCj6FLMxNzc8YIavWZ4YyOFHgBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b65f5ce519216d6a044818be6666272b8c2684bf6fca2bd1666e5a167a270c4e","last_reissued_at":"2026-05-18T00:30:18.430174Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:30:18.430174Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1711.06605","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":"2026-05-18T00:30:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H2xBLs0ADaQ0QxJvRoIwiS/3H6K4ZPS8l3YTBHHCYstTgjqL9fS9ufJa4kHWDiITiG4OLpv7blzuEP+6aRnJCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T08:36:33.553560Z"},"content_sha256":"fe7a4d7b677945a5af14bd40a9b603eb79bb247b2ecffd60b38f2aff7075a5c8","schema_version":"1.0","event_id":"sha256:fe7a4d7b677945a5af14bd40a9b603eb79bb247b2ecffd60b38f2aff7075a5c8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:WZPVZZIZEFWWUBCIDC7GMZRHFO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Evolving soft locomotion in aquatic and terrestrial environments: effects of material properties and environmental transitions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.NE","cs.RO"],"primary_cat":"cs.AI","authors_text":"Cecilia Laschi, Francesco Corucci, Francesco Giorgio-Serchi, Josh Bongard, Nick Cheney","submitted_at":"2017-11-17T16:01:27Z","abstract_excerpt":"Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention. Evolutionary soft robotics is concerned with the application of optimization algorithms inspired by natural evolution in order to let soft robots (both morphologies and controllers) spontaneously evolve within physically-realistic simulated environments, figuring out how to satisfy a set of objectives defined by human designers. In this paper a powerful evolutionary sy"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.06605","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":""},"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":"2026-05-18T00:30:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aQIg7PQimiFTSrL1jQHCyqcANyNvGTjnOsV8NOctUyEVig+IOCs1cV8+I9MfNxjUtvxtQFMAw2aK0vMpaI74Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T08:36:33.553908Z"},"content_sha256":"a2fc4e626cbc31e5725d88c743c4b11c4b2db055f878291a8aeff50c37bd2509","schema_version":"1.0","event_id":"sha256:a2fc4e626cbc31e5725d88c743c4b11c4b2db055f878291a8aeff50c37bd2509"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/bundle.json","state_url":"https://pith.science/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/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":"2026-05-28T08:36:33Z","links":{"resolver":"https://pith.science/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO","bundle":"https://pith.science/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/bundle.json","state":"https://pith.science/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WZPVZZIZEFWWUBCIDC7GMZRHFO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:WZPVZZIZEFWWUBCIDC7GMZRHFO","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":"8dccd084158999ab659230e6fd017639e0132af9fd0edce6a37081e591b5f4d0","cross_cats_sorted":["cs.NE","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-11-17T16:01:27Z","title_canon_sha256":"7674cba6d3b8a2eb64c173e255aa13ea6ea33a572d20f8dff0753e9ae6ecc29a"},"schema_version":"1.0","source":{"id":"1711.06605","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1711.06605","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"arxiv_version","alias_value":"1711.06605v1","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1711.06605","created_at":"2026-05-18T00:30:18Z"},{"alias_kind":"pith_short_12","alias_value":"WZPVZZIZEFWW","created_at":"2026-05-18T12:31:53Z"},{"alias_kind":"pith_short_16","alias_value":"WZPVZZIZEFWWUBCI","created_at":"2026-05-18T12:31:53Z"},{"alias_kind":"pith_short_8","alias_value":"WZPVZZIZ","created_at":"2026-05-18T12:31:53Z"}],"graph_snapshots":[{"event_id":"sha256:a2fc4e626cbc31e5725d88c743c4b11c4b2db055f878291a8aeff50c37bd2509","target":"graph","created_at":"2026-05-18T00:30:18Z","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"},"paper":{"abstract_excerpt":"Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention. Evolutionary soft robotics is concerned with the application of optimization algorithms inspired by natural evolution in order to let soft robots (both morphologies and controllers) spontaneously evolve within physically-realistic simulated environments, figuring out how to satisfy a set of objectives defined by human designers. In this paper a powerful evolutionary sy","authors_text":"Cecilia Laschi, Francesco Corucci, Francesco Giorgio-Serchi, Josh Bongard, Nick Cheney","cross_cats":["cs.NE","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-11-17T16:01:27Z","title":"Evolving soft locomotion in aquatic and terrestrial environments: effects of material properties and environmental transitions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.06605","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:fe7a4d7b677945a5af14bd40a9b603eb79bb247b2ecffd60b38f2aff7075a5c8","target":"record","created_at":"2026-05-18T00:30:18Z","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":"8dccd084158999ab659230e6fd017639e0132af9fd0edce6a37081e591b5f4d0","cross_cats_sorted":["cs.NE","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-11-17T16:01:27Z","title_canon_sha256":"7674cba6d3b8a2eb64c173e255aa13ea6ea33a572d20f8dff0753e9ae6ecc29a"},"schema_version":"1.0","source":{"id":"1711.06605","kind":"arxiv","version":1}},"canonical_sha256":"b65f5ce519216d6a044818be6666272b8c2684bf6fca2bd1666e5a167a270c4e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b65f5ce519216d6a044818be6666272b8c2684bf6fca2bd1666e5a167a270c4e","first_computed_at":"2026-05-18T00:30:18.430174Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:30:18.430174Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"t5Mmo5WNdWLUL764HRbOzirMUxUxAJkqPoO9WpReDdD/1yG2mY2EGJO6cEeoCj6FLMxNzc8YIavWZ4YyOFHgBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:30:18.430760Z","signed_message":"canonical_sha256_bytes"},"source_id":"1711.06605","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe7a4d7b677945a5af14bd40a9b603eb79bb247b2ecffd60b38f2aff7075a5c8","sha256:a2fc4e626cbc31e5725d88c743c4b11c4b2db055f878291a8aeff50c37bd2509"],"state_sha256":"1a5633acb47599988b78134ddc074dabf2976ff94ab2d06e0ea16eb96698f94d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4HOnIKXX6pDmP5F54eQHtcmdvjfCRN8uRMjkFxPVmDEu0sKT1k5NZ8iPghoX3sdqA8nLC0/GEMQjsSJ95esHAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T08:36:33.555789Z","bundle_sha256":"cbf1396f33184ba2816eb28e9c17387c98d60126021464b5601f8299682004e6"}}