{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ZWJFXCT3F72ZWMSD53WJ6NPCCP","short_pith_number":"pith:ZWJFXCT3","canonical_record":{"source":{"id":"2105.00771","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.flu-dyn","submitted_at":"2021-05-03T11:58:37Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"08fcf9b1f0f9784b661c344ffafa09a8be57ced53733356ef2db369dbe32353b","abstract_canon_sha256":"6b8d4ace9d543981fde5a025f868ccf9f5c8de893f7a2326be09fcb0c74ea273"},"schema_version":"1.0"},"canonical_sha256":"cd925b8a7b2ff59b3243eeec9f35e213d3bba68977fa14244a2d26f2bfb23d17","source":{"kind":"arxiv","id":"2105.00771","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.00771","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"arxiv_version","alias_value":"2105.00771v2","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.00771","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_12","alias_value":"ZWJFXCT3F72Z","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_16","alias_value":"ZWJFXCT3F72ZWMSD","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_8","alias_value":"ZWJFXCT3","created_at":"2026-07-05T03:18:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ZWJFXCT3F72ZWMSD53WJ6NPCCP","target":"record","payload":{"canonical_record":{"source":{"id":"2105.00771","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.flu-dyn","submitted_at":"2021-05-03T11:58:37Z","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"title_canon_sha256":"08fcf9b1f0f9784b661c344ffafa09a8be57ced53733356ef2db369dbe32353b","abstract_canon_sha256":"6b8d4ace9d543981fde5a025f868ccf9f5c8de893f7a2326be09fcb0c74ea273"},"schema_version":"1.0"},"canonical_sha256":"cd925b8a7b2ff59b3243eeec9f35e213d3bba68977fa14244a2d26f2bfb23d17","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:18:16.771853Z","signature_b64":"EoqaaXbwRkfgTKYojW8gcnB48bxMrgPKXjwPqUJoxbvGlK4qH2haTtN5cXXwv3Mc4Pcue/DHC3Ux/WaSn2amDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cd925b8a7b2ff59b3243eeec9f35e213d3bba68977fa14244a2d26f2bfb23d17","last_reissued_at":"2026-07-05T03:18:16.771440Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:18:16.771440Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.00771","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":"2026-07-05T03:18:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SklhVZtzochqdBTzZ9HguN8NIjwZkOYff3YdvR0RUU0p1pbxbab3wejoY44TqWeRtF5I0+pqENIIruwZBl9LAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T07:22:27.921932Z"},"content_sha256":"e7362d2b078045d8f059d83ca20c04a630de2c0f6238bab81319cd2beb3eebdf","schema_version":"1.0","event_id":"sha256:e7362d2b078045d8f059d83ca20c04a630de2c0f6238bab81319cd2beb3eebdf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ZWJFXCT3F72ZWMSD53WJ6NPCCP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning swimming escape patterns for larval fish under energy constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.RO"],"primary_cat":"physics.flu-dyn","authors_text":"Guido Novati, Ioannis Mandralis, Pascal Weber, Petros Koumoutsakos","submitted_at":"2021-05-03T11:58:37Z","abstract_excerpt":"Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed in natural larval swimmers. However, these patterns have been limited by the specification of a particular cost function and depend on a prescribed functional form of the body motion. Here, we deploy reinforcement learning to discover swimmer escape patterns for larval fish under energy constraints. The identified patterns include the C-start mechanism, in ad"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.00771","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/2105.00771/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":"2026-07-05T03:18:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"loTJFBcIQh6yN17AE4oJcqHDT+KPNm3UBbjiJA0AVt7FBCPdsSIMsyYTOxbN9s8wDO8U2a3T0FK7HUqkeguRBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T07:22:27.922533Z"},"content_sha256":"f7a6f6114301d9289acf1ca7ed8a25d92a8b6e515461456e0c1ba1670830eb6d","schema_version":"1.0","event_id":"sha256:f7a6f6114301d9289acf1ca7ed8a25d92a8b6e515461456e0c1ba1670830eb6d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/bundle.json","state_url":"https://pith.science/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/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":"2026-08-16T07:22:27Z","links":{"resolver":"https://pith.science/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP","bundle":"https://pith.science/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/bundle.json","state":"https://pith.science/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZWJFXCT3F72ZWMSD53WJ6NPCCP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZWJFXCT3F72ZWMSD53WJ6NPCCP","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":"6b8d4ace9d543981fde5a025f868ccf9f5c8de893f7a2326be09fcb0c74ea273","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.flu-dyn","submitted_at":"2021-05-03T11:58:37Z","title_canon_sha256":"08fcf9b1f0f9784b661c344ffafa09a8be57ced53733356ef2db369dbe32353b"},"schema_version":"1.0","source":{"id":"2105.00771","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.00771","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"arxiv_version","alias_value":"2105.00771v2","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.00771","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_12","alias_value":"ZWJFXCT3F72Z","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_16","alias_value":"ZWJFXCT3F72ZWMSD","created_at":"2026-07-05T03:18:16Z"},{"alias_kind":"pith_short_8","alias_value":"ZWJFXCT3","created_at":"2026-07-05T03:18:16Z"}],"graph_snapshots":[{"event_id":"sha256:f7a6f6114301d9289acf1ca7ed8a25d92a8b6e515461456e0c1ba1670830eb6d","target":"graph","created_at":"2026-07-05T03:18:16Z","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/2105.00771/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed in natural larval swimmers. However, these patterns have been limited by the specification of a particular cost function and depend on a prescribed functional form of the body motion. Here, we deploy reinforcement learning to discover swimmer escape patterns for larval fish under energy constraints. The identified patterns include the C-start mechanism, in ad","authors_text":"Guido Novati, Ioannis Mandralis, Pascal Weber, Petros Koumoutsakos","cross_cats":["cs.AI","cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.flu-dyn","submitted_at":"2021-05-03T11:58:37Z","title":"Learning swimming escape patterns for larval fish under energy constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.00771","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:e7362d2b078045d8f059d83ca20c04a630de2c0f6238bab81319cd2beb3eebdf","target":"record","created_at":"2026-07-05T03:18:16Z","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":"6b8d4ace9d543981fde5a025f868ccf9f5c8de893f7a2326be09fcb0c74ea273","cross_cats_sorted":["cs.AI","cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.flu-dyn","submitted_at":"2021-05-03T11:58:37Z","title_canon_sha256":"08fcf9b1f0f9784b661c344ffafa09a8be57ced53733356ef2db369dbe32353b"},"schema_version":"1.0","source":{"id":"2105.00771","kind":"arxiv","version":2}},"canonical_sha256":"cd925b8a7b2ff59b3243eeec9f35e213d3bba68977fa14244a2d26f2bfb23d17","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cd925b8a7b2ff59b3243eeec9f35e213d3bba68977fa14244a2d26f2bfb23d17","first_computed_at":"2026-07-05T03:18:16.771440Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:18:16.771440Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EoqaaXbwRkfgTKYojW8gcnB48bxMrgPKXjwPqUJoxbvGlK4qH2haTtN5cXXwv3Mc4Pcue/DHC3Ux/WaSn2amDg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:18:16.771853Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.00771","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e7362d2b078045d8f059d83ca20c04a630de2c0f6238bab81319cd2beb3eebdf","sha256:f7a6f6114301d9289acf1ca7ed8a25d92a8b6e515461456e0c1ba1670830eb6d"],"state_sha256":"3dfb39db0b13f256794168c88237c46d7a1c7a232a556c166da23dcb2e5f4d92"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tdn9nYZKeKmMDp/6Mbccl35MqWqvqGptqHsXPGxheUrK1uvMjBE5n+n0XrzunX4IXobUXd03atvtvIqhw2JyBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T07:22:27.926204Z","bundle_sha256":"78a325f93f2644e8f9777e9f519ca0c7b59abb5ed230729e7de26e71afbf2504"}}