{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:Y2JHTK7XJBETCERAWLEGWA3DHF","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":"6e23f091b14eaddbfb5f84a1d972ab24b332d8648347de7d30cab651569c65ab","cross_cats_sorted":["cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-21T02:56:08Z","title_canon_sha256":"f846b91f0998454f9cb34fca7804c602878ae7a729616b19849a92f5ef411470"},"schema_version":"1.0","source":{"id":"1901.06775","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.06775","created_at":"2026-05-17T23:55:49Z"},{"alias_kind":"arxiv_version","alias_value":"1901.06775v1","created_at":"2026-05-17T23:55:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.06775","created_at":"2026-05-17T23:55:49Z"},{"alias_kind":"pith_short_12","alias_value":"Y2JHTK7XJBET","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"Y2JHTK7XJBETCERA","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"Y2JHTK7X","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:292344ec1abb2b9928c36b2b9fca0da925164ba2dd65059451377a982c582930","target":"graph","created_at":"2026-05-17T23:55:49Z","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":"We compare two representations used to define the morphology of legs for a hexapod robot, which are subsequently 3D printed. A leg morphology occupies a set of voxels in a voxel grid. One method, a direct representation, uses a collection of Bezier splines. The second, an indirect method, utilises CPPN-NEAT. In our first experiment, we investigate two strategies to post-process the CPPN output and ensure leg length constraints are met. The first uses an adaptive threshold on the output neuron, the second, previously reported in the literature, scales the largest generated artefact to our desir","authors_text":"Ben Cottier, David Howard, Jack Collins","cross_cats":["cs.NE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-21T02:56:08Z","title":"Comparing Direct and Indirect Representations for Environment-Specific Robot Component Design"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.06775","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":"sha256:812590f2bc7c332293e37177128ced6916e3aa842d3b3543a70bcdbb36c033e4","target":"record","created_at":"2026-05-17T23:55:49Z","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":"6e23f091b14eaddbfb5f84a1d972ab24b332d8648347de7d30cab651569c65ab","cross_cats_sorted":["cs.NE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-21T02:56:08Z","title_canon_sha256":"f846b91f0998454f9cb34fca7804c602878ae7a729616b19849a92f5ef411470"},"schema_version":"1.0","source":{"id":"1901.06775","kind":"arxiv","version":1}},"canonical_sha256":"c69279abf74849311220b2c86b0363396fb720861ca438fc8e7f0c993080cb0f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c69279abf74849311220b2c86b0363396fb720861ca438fc8e7f0c993080cb0f","first_computed_at":"2026-05-17T23:55:49.177623Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:55:49.177623Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UxpAvws66t4f0oT5XoCJGBPPCqyaToVx2tPzN6CcahM1G7zRlmsYSI07vn0M5IEfnt6GUDMqSTV0ugVwnGt1Ag==","signature_status":"signed_v1","signed_at":"2026-05-17T23:55:49.178141Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.06775","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:812590f2bc7c332293e37177128ced6916e3aa842d3b3543a70bcdbb36c033e4","sha256:292344ec1abb2b9928c36b2b9fca0da925164ba2dd65059451377a982c582930"],"state_sha256":"b3b9284b17ddb16b9fc8fda9af243e58d5f9e7bd9cc8bbcb08b2d4a0cb0a17bd"}