{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ZQCYQ5IWDIASUIZMTKQHROD6Z7","short_pith_number":"pith:ZQCYQ5IW","canonical_record":{"source":{"id":"2102.13100","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-25T18:59:21Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"b2b6a5927e25bf5d4e275ef27e046ff6ef1ec70222243885e351f6dd57419bef","abstract_canon_sha256":"5e083cccb0846d4ac6b0d0abc06018db83eaafd3c2bde9186fdab0d106e0d35d"},"schema_version":"1.0"},"canonical_sha256":"cc058875161a012a232c9aa078b87ecffb94529a7873c1861bc26686518811a7","source":{"kind":"arxiv","id":"2102.13100","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.13100","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"arxiv_version","alias_value":"2102.13100v1","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.13100","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_12","alias_value":"ZQCYQ5IWDIAS","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_16","alias_value":"ZQCYQ5IWDIASUIZM","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_8","alias_value":"ZQCYQ5IW","created_at":"2026-07-05T02:18:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ZQCYQ5IWDIASUIZMTKQHROD6Z7","target":"record","payload":{"canonical_record":{"source":{"id":"2102.13100","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-25T18:59:21Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"b2b6a5927e25bf5d4e275ef27e046ff6ef1ec70222243885e351f6dd57419bef","abstract_canon_sha256":"5e083cccb0846d4ac6b0d0abc06018db83eaafd3c2bde9186fdab0d106e0d35d"},"schema_version":"1.0"},"canonical_sha256":"cc058875161a012a232c9aa078b87ecffb94529a7873c1861bc26686518811a7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:18:26.650175Z","signature_b64":"/sJWGZ8yWf/RQIubxbcSq+WN6rALjcakS9H+SnZRWOlgO4z/EKLVp/Vc1lk0FtGNhspZyKzSpWz/j8PAHtYXBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cc058875161a012a232c9aa078b87ecffb94529a7873c1861bc26686518811a7","last_reissued_at":"2026-07-05T02:18:26.649754Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:18:26.649754Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2102.13100","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":"2026-07-05T02:18:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"scfebt81E7DWKQFT/aGVPp2YTfEdopyTnwaHJaO/+hZzXmAD8T7mXXZj6u8yxmnWftAOYqa2we1NGhopu2S2CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T14:07:48.091783Z"},"content_sha256":"f8a9d9bc4138bdb559f116e2018c2659984dea639c7a7d73c2096b9f18d83991","schema_version":"1.0","event_id":"sha256:f8a9d9bc4138bdb559f116e2018c2659984dea639c7a7d73c2096b9f18d83991"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ZQCYQ5IWDIASUIZMTKQHROD6Z7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Task-Agnostic Morphology Evolution","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.RO"],"primary_cat":"cs.LG","authors_text":"Donald J. Hejna III, Lerrel Pinto, Pieter Abbeel","submitted_at":"2021-02-25T18:59:21Z","abstract_excerpt":"Deep reinforcement learning primarily focuses on learning behavior, usually overlooking the fact that an agent's function is largely determined by form. So, how should one go about finding a morphology fit for solving tasks in a given environment? Current approaches that co-adapt morphology and behavior use a specific task's reward as a signal for morphology optimization. However, this often requires expensive policy optimization and results in task-dependent morphologies that are not built to generalize. In this work, we propose a new approach, Task-Agnostic Morphology Evolution (TAME), to al"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.13100","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2102.13100/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":"2026-07-05T02:18:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lIgUNhfKiVjeKhp4dbDpSekyoB3/P6PWBJ6t8FpUQpZgCXqSeowqD0/9NfBlgZXO0q1XGoiErWP2VD4i0ttkBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T14:07:48.092600Z"},"content_sha256":"b17ae8b74a0d5d6232dbe397911890bfcb65d4c91ad90e4dc180bb606fbb8ce7","schema_version":"1.0","event_id":"sha256:b17ae8b74a0d5d6232dbe397911890bfcb65d4c91ad90e4dc180bb606fbb8ce7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/bundle.json","state_url":"https://pith.science/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/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":"2026-08-09T14:07:48Z","links":{"resolver":"https://pith.science/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7","bundle":"https://pith.science/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/bundle.json","state":"https://pith.science/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZQCYQ5IWDIASUIZMTKQHROD6Z7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZQCYQ5IWDIASUIZMTKQHROD6Z7","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":"5e083cccb0846d4ac6b0d0abc06018db83eaafd3c2bde9186fdab0d106e0d35d","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-25T18:59:21Z","title_canon_sha256":"b2b6a5927e25bf5d4e275ef27e046ff6ef1ec70222243885e351f6dd57419bef"},"schema_version":"1.0","source":{"id":"2102.13100","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.13100","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"arxiv_version","alias_value":"2102.13100v1","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.13100","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_12","alias_value":"ZQCYQ5IWDIAS","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_16","alias_value":"ZQCYQ5IWDIASUIZM","created_at":"2026-07-05T02:18:26Z"},{"alias_kind":"pith_short_8","alias_value":"ZQCYQ5IW","created_at":"2026-07-05T02:18:26Z"}],"graph_snapshots":[{"event_id":"sha256:b17ae8b74a0d5d6232dbe397911890bfcb65d4c91ad90e4dc180bb606fbb8ce7","target":"graph","created_at":"2026-07-05T02:18:26Z","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/2102.13100/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deep reinforcement learning primarily focuses on learning behavior, usually overlooking the fact that an agent's function is largely determined by form. So, how should one go about finding a morphology fit for solving tasks in a given environment? Current approaches that co-adapt morphology and behavior use a specific task's reward as a signal for morphology optimization. However, this often requires expensive policy optimization and results in task-dependent morphologies that are not built to generalize. In this work, we propose a new approach, Task-Agnostic Morphology Evolution (TAME), to al","authors_text":"Donald J. Hejna III, Lerrel Pinto, Pieter Abbeel","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-25T18:59:21Z","title":"Task-Agnostic Morphology Evolution"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.13100","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:f8a9d9bc4138bdb559f116e2018c2659984dea639c7a7d73c2096b9f18d83991","target":"record","created_at":"2026-07-05T02:18:26Z","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":"5e083cccb0846d4ac6b0d0abc06018db83eaafd3c2bde9186fdab0d106e0d35d","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-25T18:59:21Z","title_canon_sha256":"b2b6a5927e25bf5d4e275ef27e046ff6ef1ec70222243885e351f6dd57419bef"},"schema_version":"1.0","source":{"id":"2102.13100","kind":"arxiv","version":1}},"canonical_sha256":"cc058875161a012a232c9aa078b87ecffb94529a7873c1861bc26686518811a7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cc058875161a012a232c9aa078b87ecffb94529a7873c1861bc26686518811a7","first_computed_at":"2026-07-05T02:18:26.649754Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:18:26.649754Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/sJWGZ8yWf/RQIubxbcSq+WN6rALjcakS9H+SnZRWOlgO4z/EKLVp/Vc1lk0FtGNhspZyKzSpWz/j8PAHtYXBA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:18:26.650175Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.13100","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f8a9d9bc4138bdb559f116e2018c2659984dea639c7a7d73c2096b9f18d83991","sha256:b17ae8b74a0d5d6232dbe397911890bfcb65d4c91ad90e4dc180bb606fbb8ce7"],"state_sha256":"825aa038766530a71c595eb124b31fcf3ffad2e6e45eda972ddf4f3794f67a8f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"If55DK+4/QScuQ40rJ7eALRlMYE9VLh0gnaKinER2y/IQhyBN0YGSi69cXnZLjHxJGE5X19QkMZGttSMxjrLBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T14:07:48.097326Z","bundle_sha256":"795ff8c71f0e2f8af563195e951917f931a16a6069dbd5918c9afb5cc13354df"}}