{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:AWW7KJ3SNIYW6MQHYGDIDCTNIP","short_pith_number":"pith:AWW7KJ3S","canonical_record":{"source":{"id":"2508.01829","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-03T16:30:31Z","cross_cats_sorted":[],"title_canon_sha256":"8296a814c4a7b92c3e7ab072aa9e17be0ebfde5dd74c7b4ea0871d44c5d587a3","abstract_canon_sha256":"abcb4e6b01abe7eaf10947e77fbd91896639e65e419dc704aa47bf0b26d11a29"},"schema_version":"1.0"},"canonical_sha256":"05adf527726a316f3207c186818a6d43c54f0144d0405cae9861e5a326c5faae","source":{"kind":"arxiv","id":"2508.01829","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.01829","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"arxiv_version","alias_value":"2508.01829v1","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.01829","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_12","alias_value":"AWW7KJ3SNIYW","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_16","alias_value":"AWW7KJ3SNIYW6MQH","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_8","alias_value":"AWW7KJ3S","created_at":"2026-07-05T11:47:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:AWW7KJ3SNIYW6MQHYGDIDCTNIP","target":"record","payload":{"canonical_record":{"source":{"id":"2508.01829","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-03T16:30:31Z","cross_cats_sorted":[],"title_canon_sha256":"8296a814c4a7b92c3e7ab072aa9e17be0ebfde5dd74c7b4ea0871d44c5d587a3","abstract_canon_sha256":"abcb4e6b01abe7eaf10947e77fbd91896639e65e419dc704aa47bf0b26d11a29"},"schema_version":"1.0"},"canonical_sha256":"05adf527726a316f3207c186818a6d43c54f0144d0405cae9861e5a326c5faae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:47:46.014154Z","signature_b64":"+d7tejs2cXOU4R+BzOvMXWnb+mZkOUn5BOUd3oBeZ6c8ippgpLVb1GyoSQl6FUyq8LRN5kJKcZYUvfbOj7yHCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"05adf527726a316f3207c186818a6d43c54f0144d0405cae9861e5a326c5faae","last_reissued_at":"2026-07-05T11:47:46.013653Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:47:46.013653Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.01829","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":"2026-07-05T11:47:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/GaM7DYDAPAA5WuxsJsbch+PfcVeocYMerPUPQE720D0zLy2ZeZp8APtsLslnu5H5GdInwlbPMyNX9bTMP8wAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:49:09.232562Z"},"content_sha256":"0821424246ff752fae654d453400e2d0b2764186134d3d19bc5d55f8c09d4e2b","schema_version":"1.0","event_id":"sha256:0821424246ff752fae654d453400e2d0b2764186134d3d19bc5d55f8c09d4e2b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:AWW7KJ3SNIYW6MQHYGDIDCTNIP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Exploring environment exploitation for self-reconfiguration in modular robotics","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew Bae, Haorui Li, Henry Zhao, Mark Yim, Philippe Martin Wyder","submitted_at":"2025-08-03T16:30:31Z","abstract_excerpt":"Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the task and largely confines modular robots to sterile laboratory settings. The latest generation of truss modular robots, such as the Variable Topology Truss and the Truss Link, have begun to focus outward and reveal a key insight: the environment is not just a backdrop; it is a tool. In this work, we shift the paradigm from building better robots to building bett"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.01829","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/2508.01829/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":"2026-07-05T11:47:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bpu/E5i4JeidaXZnD0rP6POf84od0SCU/abTUL98dcW1oCNKPgvhLGYUgZnRogl57xMzk72A/AmURD6T1zrTBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T14:49:09.233176Z"},"content_sha256":"3dc9e70e9abbaf260cc2c4dfafed82dd13c1a0a9ca175526142d32bd510a9ffd","schema_version":"1.0","event_id":"sha256:3dc9e70e9abbaf260cc2c4dfafed82dd13c1a0a9ca175526142d32bd510a9ffd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/bundle.json","state_url":"https://pith.science/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/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":"2026-08-16T14:49:09Z","links":{"resolver":"https://pith.science/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP","bundle":"https://pith.science/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/bundle.json","state":"https://pith.science/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AWW7KJ3SNIYW6MQHYGDIDCTNIP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:AWW7KJ3SNIYW6MQHYGDIDCTNIP","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":"abcb4e6b01abe7eaf10947e77fbd91896639e65e419dc704aa47bf0b26d11a29","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-03T16:30:31Z","title_canon_sha256":"8296a814c4a7b92c3e7ab072aa9e17be0ebfde5dd74c7b4ea0871d44c5d587a3"},"schema_version":"1.0","source":{"id":"2508.01829","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.01829","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"arxiv_version","alias_value":"2508.01829v1","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.01829","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_12","alias_value":"AWW7KJ3SNIYW","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_16","alias_value":"AWW7KJ3SNIYW6MQH","created_at":"2026-07-05T11:47:46Z"},{"alias_kind":"pith_short_8","alias_value":"AWW7KJ3S","created_at":"2026-07-05T11:47:46Z"}],"graph_snapshots":[{"event_id":"sha256:3dc9e70e9abbaf260cc2c4dfafed82dd13c1a0a9ca175526142d32bd510a9ffd","target":"graph","created_at":"2026-07-05T11:47:46Z","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/2508.01829/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the task and largely confines modular robots to sterile laboratory settings. The latest generation of truss modular robots, such as the Variable Topology Truss and the Truss Link, have begun to focus outward and reveal a key insight: the environment is not just a backdrop; it is a tool. In this work, we shift the paradigm from building better robots to building bett","authors_text":"Andrew Bae, Haorui Li, Henry Zhao, Mark Yim, Philippe Martin Wyder","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-03T16:30:31Z","title":"Exploring environment exploitation for self-reconfiguration in modular robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.01829","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":"sha256:0821424246ff752fae654d453400e2d0b2764186134d3d19bc5d55f8c09d4e2b","target":"record","created_at":"2026-07-05T11:47:46Z","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":"abcb4e6b01abe7eaf10947e77fbd91896639e65e419dc704aa47bf0b26d11a29","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-03T16:30:31Z","title_canon_sha256":"8296a814c4a7b92c3e7ab072aa9e17be0ebfde5dd74c7b4ea0871d44c5d587a3"},"schema_version":"1.0","source":{"id":"2508.01829","kind":"arxiv","version":1}},"canonical_sha256":"05adf527726a316f3207c186818a6d43c54f0144d0405cae9861e5a326c5faae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"05adf527726a316f3207c186818a6d43c54f0144d0405cae9861e5a326c5faae","first_computed_at":"2026-07-05T11:47:46.013653Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:47:46.013653Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+d7tejs2cXOU4R+BzOvMXWnb+mZkOUn5BOUd3oBeZ6c8ippgpLVb1GyoSQl6FUyq8LRN5kJKcZYUvfbOj7yHCA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:47:46.014154Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.01829","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0821424246ff752fae654d453400e2d0b2764186134d3d19bc5d55f8c09d4e2b","sha256:3dc9e70e9abbaf260cc2c4dfafed82dd13c1a0a9ca175526142d32bd510a9ffd"],"state_sha256":"678c9b613bdd514694fb2e1d5cf6b695d61e0f82c3da1ddb99da6ead65d18931"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HT76LIOp6WkdVqdg84ZtxfmtIgIchUFfYKiyTNJ61QiiIr1YKH6Dzquo8QcbqG5UhvkxU1x9vKS4zMFcGlCkAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T14:49:09.240930Z","bundle_sha256":"ff6b88abd106c54fe5dd67d1b43789d9876c2478603cd8e5e4ca3c560a5291dd"}}