{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:ZQMMB3SHJR2JVRM7K4THWFPM34","short_pith_number":"pith:ZQMMB3SH","schema_version":"1.0","canonical_sha256":"cc18c0ee474c749ac59f57267b15ecdf31f2292761d46e9f2e88c078aaf42a2d","source":{"kind":"arxiv","id":"2401.10997","version":1},"attestation_state":"computed","paper":{"title":"A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cesare Stefanini, Gastone Ciuti, Matteo Bernabei, Vanessa Mainardi, Xuyang Ren, Zixi Chen","submitted_at":"2024-01-19T19:24:19Z","abstract_excerpt":"Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots. In this paper, we introduce a data collection strategy and a novel and accurate bidirectional LSTM configuration controller for modular soft robots with module number adaptability. Such a controller can control module configurations in robots with different module numbers. Simulation cable-driven robots and real pneumatic robots have been included in experim"},"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":"2401.10997","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-19T19:24:19Z","cross_cats_sorted":[],"title_canon_sha256":"23d732f06b4c4bfc99d6902c43e4cc62b8399bf18b708473c204a409d5ec2e3e","abstract_canon_sha256":"d9983013eae03d6266a3ba4046c7635d735ffef4ef355b284aa15f7de503067f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:35:44.088479Z","signature_b64":"2014VnF2sHLlTJCpsBebTg+vm+pOChGsXzLwwt751tCT7QTW3Q1J/L8o8O+Zst6dOCjdOc/QjPLCDULyoMAsBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cc18c0ee474c749ac59f57267b15ecdf31f2292761d46e9f2e88c078aaf42a2d","last_reissued_at":"2026-07-05T07:35:44.088000Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:35:44.088000Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cesare Stefanini, Gastone Ciuti, Matteo Bernabei, Vanessa Mainardi, Xuyang Ren, Zixi Chen","submitted_at":"2024-01-19T19:24:19Z","abstract_excerpt":"Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots. In this paper, we introduce a data collection strategy and a novel and accurate bidirectional LSTM configuration controller for modular soft robots with module number adaptability. Such a controller can control module configurations in robots with different module numbers. Simulation cable-driven robots and real pneumatic robots have been included in experim"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.10997","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/2401.10997/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":"2401.10997","created_at":"2026-07-05T07:35:44.088056+00:00"},{"alias_kind":"arxiv_version","alias_value":"2401.10997v1","created_at":"2026-07-05T07:35:44.088056+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.10997","created_at":"2026-07-05T07:35:44.088056+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZQMMB3SHJR2J","created_at":"2026-07-05T07:35:44.088056+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZQMMB3SHJR2JVRM7","created_at":"2026-07-05T07:35:44.088056+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZQMMB3SH","created_at":"2026-07-05T07:35:44.088056+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2505.11613","citing_title":"MedGUIDE: Benchmarking Clinical Decision-Making in Large Language Models","ref_index":69,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34","json":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34.json","graph_json":"https://pith.science/api/pith-number/ZQMMB3SHJR2JVRM7K4THWFPM34/graph.json","events_json":"https://pith.science/api/pith-number/ZQMMB3SHJR2JVRM7K4THWFPM34/events.json","paper":"https://pith.science/paper/ZQMMB3SH"},"agent_actions":{"view_html":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34","download_json":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34.json","view_paper":"https://pith.science/paper/ZQMMB3SH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2401.10997&json=true","fetch_graph":"https://pith.science/api/pith-number/ZQMMB3SHJR2JVRM7K4THWFPM34/graph.json","fetch_events":"https://pith.science/api/pith-number/ZQMMB3SHJR2JVRM7K4THWFPM34/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34/action/storage_attestation","attest_author":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34/action/author_attestation","sign_citation":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34/action/citation_signature","submit_replication":"https://pith.science/pith/ZQMMB3SHJR2JVRM7K4THWFPM34/action/replication_record"}},"created_at":"2026-07-05T07:35:44.088056+00:00","updated_at":"2026-07-05T07:35:44.088056+00:00"}