{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:Y3LNENSK3OST674HIUSNW3P3ZQ","short_pith_number":"pith:Y3LNENSK","canonical_record":{"source":{"id":"2105.02313","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-05T20:34:25Z","cross_cats_sorted":[],"title_canon_sha256":"3cc54392fc74445d9727b2c33bdc3590a9ea9e36602005a2c257303a2e29a07f","abstract_canon_sha256":"85a77956a1e33617e57be5186bfa5ee0fa7f955fc73afb57f0c208a1dd29fe37"},"schema_version":"1.0"},"canonical_sha256":"c6d6d2364adba53f7f874524db6dfbcc3d60f4c3c4d7d98ecdd1b828bcdd3d57","source":{"kind":"arxiv","id":"2105.02313","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.02313","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"arxiv_version","alias_value":"2105.02313v2","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.02313","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_12","alias_value":"Y3LNENSK3OST","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_16","alias_value":"Y3LNENSK3OST674H","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_8","alias_value":"Y3LNENSK","created_at":"2026-07-05T03:08:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:Y3LNENSK3OST674HIUSNW3P3ZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2105.02313","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-05T20:34:25Z","cross_cats_sorted":[],"title_canon_sha256":"3cc54392fc74445d9727b2c33bdc3590a9ea9e36602005a2c257303a2e29a07f","abstract_canon_sha256":"85a77956a1e33617e57be5186bfa5ee0fa7f955fc73afb57f0c208a1dd29fe37"},"schema_version":"1.0"},"canonical_sha256":"c6d6d2364adba53f7f874524db6dfbcc3d60f4c3c4d7d98ecdd1b828bcdd3d57","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:08:29.730970Z","signature_b64":"Kg4dHek80YnWFY6s4LLKhT++Ygqlh2npgdMV7keZm2FOzbA9u0JXTYbo+yEX6Hv187/c0Wr/bT0/6JYu+D+rBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c6d6d2364adba53f7f874524db6dfbcc3d60f4c3c4d7d98ecdd1b828bcdd3d57","last_reissued_at":"2026-07-05T03:08:29.730520Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:08:29.730520Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.02313","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":"2026-07-05T03:08:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VcBMkEJXNS9dGs+XnbU7o/FSjVr5B7gestUbFKhnfwehBDJKmFPpe6pHpr9GanTa1Z1Wz2F1ye/nnFGBgww3DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-24T00:29:09.558706Z"},"content_sha256":"a466ee53e97b20e0a4e59ad7bfd05fcb6cafb525b837b1c5f92ee0d3b381cead","schema_version":"1.0","event_id":"sha256:a466ee53e97b20e0a4e59ad7bfd05fcb6cafb525b837b1c5f92ee0d3b381cead"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:Y3LNENSK3OST674HIUSNW3P3ZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"iCub","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chiara Bartolozzi, Francesco Nori, Giorgio Metta, Giulio Sandini, Lorenzo Natale","submitted_at":"2021-05-05T20:34:25Z","abstract_excerpt":"In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is adopted by more than 30 laboratories world wide. We complete the chapter by illustrating some of the research activities that are currently carried out on the iCub robot, i.e. visual perception, event driven sensing and dynamic control. We conclude the Chapter with a discussion of the lessons we learned and a preview of the upcoming next release of the robot, i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.02313","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/2105.02313/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":"2026-07-05T03:08:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v3lhQVKor7gUGKkVV4EXtpYQQmENNg7D8CBNQo07dFmMIA+tMCqPb6tiNeTIFOf/Gis1X3bsdHg+vQXS6k/1CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-24T00:29:09.559215Z"},"content_sha256":"c3802e7c94ffc46298733fce084cffab974c726de3d7bb9c317a7a8c710ec2e7","schema_version":"1.0","event_id":"sha256:c3802e7c94ffc46298733fce084cffab974c726de3d7bb9c317a7a8c710ec2e7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/bundle.json","state_url":"https://pith.science/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/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":"2026-08-24T00:29:09Z","links":{"resolver":"https://pith.science/pith/Y3LNENSK3OST674HIUSNW3P3ZQ","bundle":"https://pith.science/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/bundle.json","state":"https://pith.science/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y3LNENSK3OST674HIUSNW3P3ZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:Y3LNENSK3OST674HIUSNW3P3ZQ","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":"85a77956a1e33617e57be5186bfa5ee0fa7f955fc73afb57f0c208a1dd29fe37","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-05T20:34:25Z","title_canon_sha256":"3cc54392fc74445d9727b2c33bdc3590a9ea9e36602005a2c257303a2e29a07f"},"schema_version":"1.0","source":{"id":"2105.02313","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.02313","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"arxiv_version","alias_value":"2105.02313v2","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.02313","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_12","alias_value":"Y3LNENSK3OST","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_16","alias_value":"Y3LNENSK3OST674H","created_at":"2026-07-05T03:08:29Z"},{"alias_kind":"pith_short_8","alias_value":"Y3LNENSK","created_at":"2026-07-05T03:08:29Z"}],"graph_snapshots":[{"event_id":"sha256:c3802e7c94ffc46298733fce084cffab974c726de3d7bb9c317a7a8c710ec2e7","target":"graph","created_at":"2026-07-05T03:08:29Z","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/2105.02313/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is adopted by more than 30 laboratories world wide. We complete the chapter by illustrating some of the research activities that are currently carried out on the iCub robot, i.e. visual perception, event driven sensing and dynamic control. We conclude the Chapter with a discussion of the lessons we learned and a preview of the upcoming next release of the robot, i","authors_text":"Chiara Bartolozzi, Francesco Nori, Giorgio Metta, Giulio Sandini, Lorenzo Natale","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-05T20:34:25Z","title":"iCub"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.02313","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:a466ee53e97b20e0a4e59ad7bfd05fcb6cafb525b837b1c5f92ee0d3b381cead","target":"record","created_at":"2026-07-05T03:08:29Z","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":"85a77956a1e33617e57be5186bfa5ee0fa7f955fc73afb57f0c208a1dd29fe37","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-05T20:34:25Z","title_canon_sha256":"3cc54392fc74445d9727b2c33bdc3590a9ea9e36602005a2c257303a2e29a07f"},"schema_version":"1.0","source":{"id":"2105.02313","kind":"arxiv","version":2}},"canonical_sha256":"c6d6d2364adba53f7f874524db6dfbcc3d60f4c3c4d7d98ecdd1b828bcdd3d57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6d6d2364adba53f7f874524db6dfbcc3d60f4c3c4d7d98ecdd1b828bcdd3d57","first_computed_at":"2026-07-05T03:08:29.730520Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:08:29.730520Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Kg4dHek80YnWFY6s4LLKhT++Ygqlh2npgdMV7keZm2FOzbA9u0JXTYbo+yEX6Hv187/c0Wr/bT0/6JYu+D+rBA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:08:29.730970Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.02313","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a466ee53e97b20e0a4e59ad7bfd05fcb6cafb525b837b1c5f92ee0d3b381cead","sha256:c3802e7c94ffc46298733fce084cffab974c726de3d7bb9c317a7a8c710ec2e7"],"state_sha256":"f2c95601e023c3227f04581dbd936e21954df3f20b0ad5edec796035352cf097"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C+C2AYxz1Ix7VzqhmIYX25n4+/dcW4a2Se7C1eDhjO4+lpP8VRVmFTgFR6+TDYdC34rvPsGv3blYT3WJ7be8Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-24T00:29:09.564272Z","bundle_sha256":"574cedd2f82dbad1fa579dc418b32900d130a03eb9d3673e86118fbf57c549eb"}}