{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:AUX7OCDRUCSOP6JOFH4H7LD64S","short_pith_number":"pith:AUX7OCDR","canonical_record":{"source":{"id":"2304.07260","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-14T17:13:13Z","cross_cats_sorted":[],"title_canon_sha256":"58a8677280ba021c6dcf4122b8e3588e4375de26a3c281bbc9d6c1b28b30c426","abstract_canon_sha256":"88d865524ae68eb42e4058fd0f51affe3b5a6214f0b26802037d31d1e7294dee"},"schema_version":"1.0"},"canonical_sha256":"052ff70871a0a4e7f92e29f87fac7ee492cff1ba8c0d93fec4f50b8a25fa7289","source":{"kind":"arxiv","id":"2304.07260","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.07260","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"arxiv_version","alias_value":"2304.07260v2","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.07260","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_12","alias_value":"AUX7OCDRUCSO","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_16","alias_value":"AUX7OCDRUCSOP6JO","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_8","alias_value":"AUX7OCDR","created_at":"2026-07-05T06:43:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:AUX7OCDRUCSOP6JOFH4H7LD64S","target":"record","payload":{"canonical_record":{"source":{"id":"2304.07260","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-14T17:13:13Z","cross_cats_sorted":[],"title_canon_sha256":"58a8677280ba021c6dcf4122b8e3588e4375de26a3c281bbc9d6c1b28b30c426","abstract_canon_sha256":"88d865524ae68eb42e4058fd0f51affe3b5a6214f0b26802037d31d1e7294dee"},"schema_version":"1.0"},"canonical_sha256":"052ff70871a0a4e7f92e29f87fac7ee492cff1ba8c0d93fec4f50b8a25fa7289","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:43:22.141932Z","signature_b64":"nIUdz122g+M33zph+vQneQ9k5Kb4HDKK7k1RYtMSTY7zdxBEhj9TsSKpZrPGnRPOWbqghKHhr4TYFtb27rMVBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"052ff70871a0a4e7f92e29f87fac7ee492cff1ba8c0d93fec4f50b8a25fa7289","last_reissued_at":"2026-07-05T06:43:22.141509Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:43:22.141509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2304.07260","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":"2026-07-05T06:43:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2o83jou6GroK4034smdt3a1OkYlS30WlKg3OOl56qA5ZTQXQ3O6NfPw8H2/HGZaXdfzPchK6qcU4GvScqCaOAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:57:23.430919Z"},"content_sha256":"8230a309fe0a12a074cf0246be8af58c110bf73572d99a9a85260bc0e9988eb7","schema_version":"1.0","event_id":"sha256:8230a309fe0a12a074cf0246be8af58c110bf73572d99a9a85260bc0e9988eb7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:AUX7OCDRUCSOP6JOFH4H7LD64S","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Open Source Design Optimization Toolbox Evaluated on a Soft Finger","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Duriez, Luis Molina, Olivier Goury, Stefan Escaida Navarro, Tanguy Navez","submitted_at":"2023-04-14T17:13:13Z","abstract_excerpt":"In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and adopted. We evaluate this toolbox on the example of a cable-driven, sensorized soft finger. For devices like these, that feature both actuation and sensing, the need for multi-objective optimization capabilities naturally arises, because at the very least, a trade-off between these two aspects has to be found. Thus, multi-objective optimization capability is one "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.07260","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/2304.07260/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":"2026-07-05T06:43:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AsrbL/CaGBzhsK8dPtaUmFXVq1WwDAnZZk5BWZYgTX8pSgCDG8G44uEDMA4ma+Rhiq+nnSIZ9a8NcTiwWhb+CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:57:23.431289Z"},"content_sha256":"7945e84b4c5d77150115607eceb9a9a0dd1a291fbdf28010ac9e47721093a9e0","schema_version":"1.0","event_id":"sha256:7945e84b4c5d77150115607eceb9a9a0dd1a291fbdf28010ac9e47721093a9e0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/bundle.json","state_url":"https://pith.science/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/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":"2026-07-07T11:57:23Z","links":{"resolver":"https://pith.science/pith/AUX7OCDRUCSOP6JOFH4H7LD64S","bundle":"https://pith.science/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/bundle.json","state":"https://pith.science/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AUX7OCDRUCSOP6JOFH4H7LD64S/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:AUX7OCDRUCSOP6JOFH4H7LD64S","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":"88d865524ae68eb42e4058fd0f51affe3b5a6214f0b26802037d31d1e7294dee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-14T17:13:13Z","title_canon_sha256":"58a8677280ba021c6dcf4122b8e3588e4375de26a3c281bbc9d6c1b28b30c426"},"schema_version":"1.0","source":{"id":"2304.07260","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2304.07260","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"arxiv_version","alias_value":"2304.07260v2","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.07260","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_12","alias_value":"AUX7OCDRUCSO","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_16","alias_value":"AUX7OCDRUCSOP6JO","created_at":"2026-07-05T06:43:22Z"},{"alias_kind":"pith_short_8","alias_value":"AUX7OCDR","created_at":"2026-07-05T06:43:22Z"}],"graph_snapshots":[{"event_id":"sha256:7945e84b4c5d77150115607eceb9a9a0dd1a291fbdf28010ac9e47721093a9e0","target":"graph","created_at":"2026-07-05T06:43:22Z","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/2304.07260/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and adopted. We evaluate this toolbox on the example of a cable-driven, sensorized soft finger. For devices like these, that feature both actuation and sensing, the need for multi-objective optimization capabilities naturally arises, because at the very least, a trade-off between these two aspects has to be found. Thus, multi-objective optimization capability is one ","authors_text":"Christian Duriez, Luis Molina, Olivier Goury, Stefan Escaida Navarro, Tanguy Navez","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-14T17:13:13Z","title":"An Open Source Design Optimization Toolbox Evaluated on a Soft Finger"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.07260","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":"sha256:8230a309fe0a12a074cf0246be8af58c110bf73572d99a9a85260bc0e9988eb7","target":"record","created_at":"2026-07-05T06:43:22Z","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":"88d865524ae68eb42e4058fd0f51affe3b5a6214f0b26802037d31d1e7294dee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-04-14T17:13:13Z","title_canon_sha256":"58a8677280ba021c6dcf4122b8e3588e4375de26a3c281bbc9d6c1b28b30c426"},"schema_version":"1.0","source":{"id":"2304.07260","kind":"arxiv","version":2}},"canonical_sha256":"052ff70871a0a4e7f92e29f87fac7ee492cff1ba8c0d93fec4f50b8a25fa7289","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"052ff70871a0a4e7f92e29f87fac7ee492cff1ba8c0d93fec4f50b8a25fa7289","first_computed_at":"2026-07-05T06:43:22.141509Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:43:22.141509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nIUdz122g+M33zph+vQneQ9k5Kb4HDKK7k1RYtMSTY7zdxBEhj9TsSKpZrPGnRPOWbqghKHhr4TYFtb27rMVBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:43:22.141932Z","signed_message":"canonical_sha256_bytes"},"source_id":"2304.07260","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8230a309fe0a12a074cf0246be8af58c110bf73572d99a9a85260bc0e9988eb7","sha256:7945e84b4c5d77150115607eceb9a9a0dd1a291fbdf28010ac9e47721093a9e0"],"state_sha256":"6ebef1405f791da971f93f414e82fa0d08520998a58336f8b64d13c5c7908299"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OdGr1VWLunjl0uu5ZTmqV9jcOuGyqSZjWs68eMig2sEmHyIpHXS1eGh/ofmkk1kJO3qfG8G7uZCb1YW8n62iBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:57:23.433210Z","bundle_sha256":"fd7efb77d36a72603afed57ed0955c46e67676a73764890582ef23ae99588136"}}