{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:X4KVTMEDVOESCGRQVE7SFDE5KX","short_pith_number":"pith:X4KVTMED","schema_version":"1.0","canonical_sha256":"bf1559b083ab89211a30a93f228c9d55c4c1ffb976466d462157a76dd0c27e67","source":{"kind":"arxiv","id":"2506.05012","version":2},"attestation_state":"computed","paper":{"title":"Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.comp-ph","physics.flu-dyn"],"primary_cat":"cs.RO","authors_text":"Carmel Majidi, Jeong Hun Lee, Junzhe Hu, Sofia Kwok, Zachary Manchester","submitted_at":"2025-06-05T13:21:17Z","abstract_excerpt":"Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However, simulating these dynamics, which are governed by coupled ordinary and partial differential equations, is significantly more difficult than the multi-body dynamics of classical rigid robotic systems. We present a differentiable framework for simulating strongly coupled fluid-robot multiphysics as a unified optimization problem. The coupled manipulator and incompressi"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2506.05012","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-05T13:21:17Z","cross_cats_sorted":["physics.comp-ph","physics.flu-dyn"],"title_canon_sha256":"e46241e04409b26da14fc649c9e4422fbebf99f1555e44b692558b2d01dfafd0","abstract_canon_sha256":"58caca85a93357971bcec01a23d764e17c33bc1ced39e39801c0b7290eb768d4"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-28T02:04:40.957977Z","signature_b64":"mGFzjkbES5P7Gk+bQMLhG0nDzUMZrVuValHf7nXis3t7HXc6p4HkLgYgnGRuIAHddmJ8SZxcfYLAp5JgOBnoBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bf1559b083ab89211a30a93f228c9d55c4c1ffb976466d462157a76dd0c27e67","last_reissued_at":"2026-05-28T02:04:40.957439Z","signature_status":"signed_v1","first_computed_at":"2026-05-28T02:04:40.957439Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.comp-ph","physics.flu-dyn"],"primary_cat":"cs.RO","authors_text":"Carmel Majidi, Jeong Hun Lee, Junzhe Hu, Sofia Kwok, Zachary Manchester","submitted_at":"2025-06-05T13:21:17Z","abstract_excerpt":"Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However, simulating these dynamics, which are governed by coupled ordinary and partial differential equations, is significantly more difficult than the multi-body dynamics of classical rigid robotic systems. We present a differentiable framework for simulating strongly coupled fluid-robot multiphysics as a unified optimization problem. The coupled manipulator and incompressi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.05012","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/2506.05012/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2506.05012","created_at":"2026-05-28T02:04:40.957497+00:00"},{"alias_kind":"arxiv_version","alias_value":"2506.05012v2","created_at":"2026-05-28T02:04:40.957497+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.05012","created_at":"2026-05-28T02:04:40.957497+00:00"},{"alias_kind":"pith_short_12","alias_value":"X4KVTMEDVOES","created_at":"2026-05-28T02:04:40.957497+00:00"},{"alias_kind":"pith_short_16","alias_value":"X4KVTMEDVOESCGRQ","created_at":"2026-05-28T02:04:40.957497+00:00"},{"alias_kind":"pith_short_8","alias_value":"X4KVTMED","created_at":"2026-05-28T02:04:40.957497+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX","json":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX.json","graph_json":"https://pith.science/api/pith-number/X4KVTMEDVOESCGRQVE7SFDE5KX/graph.json","events_json":"https://pith.science/api/pith-number/X4KVTMEDVOESCGRQVE7SFDE5KX/events.json","paper":"https://pith.science/paper/X4KVTMED"},"agent_actions":{"view_html":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX","download_json":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX.json","view_paper":"https://pith.science/paper/X4KVTMED","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2506.05012&json=true","fetch_graph":"https://pith.science/api/pith-number/X4KVTMEDVOESCGRQVE7SFDE5KX/graph.json","fetch_events":"https://pith.science/api/pith-number/X4KVTMEDVOESCGRQVE7SFDE5KX/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX/action/timestamp_anchor","attest_storage":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX/action/storage_attestation","attest_author":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX/action/author_attestation","sign_citation":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX/action/citation_signature","submit_replication":"https://pith.science/pith/X4KVTMEDVOESCGRQVE7SFDE5KX/action/replication_record"}},"created_at":"2026-05-28T02:04:40.957497+00:00","updated_at":"2026-05-28T02:04:40.957497+00:00"}