{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KOOCQWN73EE4CH3UTUK5WGOWDL","short_pith_number":"pith:KOOCQWN7","canonical_record":{"source":{"id":"2407.08222","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-11T06:46:02Z","cross_cats_sorted":[],"title_canon_sha256":"32432a9e797f9f921654a348859fb0c278a351c8be3cb89b200db00d694397d7","abstract_canon_sha256":"1fade21510b78a5cad7d45cd40db60a621772eb3740fce59d2e2d933b0da15ec"},"schema_version":"1.0"},"canonical_sha256":"539c2859bfd909c11f749d15db19d61adfea9ad638f246ef87002fdb3a2dbadc","source":{"kind":"arxiv","id":"2407.08222","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.08222","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"arxiv_version","alias_value":"2407.08222v1","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.08222","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_12","alias_value":"KOOCQWN73EE4","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_16","alias_value":"KOOCQWN73EE4CH3U","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_8","alias_value":"KOOCQWN7","created_at":"2026-07-05T08:42:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KOOCQWN73EE4CH3UTUK5WGOWDL","target":"record","payload":{"canonical_record":{"source":{"id":"2407.08222","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-11T06:46:02Z","cross_cats_sorted":[],"title_canon_sha256":"32432a9e797f9f921654a348859fb0c278a351c8be3cb89b200db00d694397d7","abstract_canon_sha256":"1fade21510b78a5cad7d45cd40db60a621772eb3740fce59d2e2d933b0da15ec"},"schema_version":"1.0"},"canonical_sha256":"539c2859bfd909c11f749d15db19d61adfea9ad638f246ef87002fdb3a2dbadc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:42:45.157066Z","signature_b64":"ND0G3LPxf8iTFN2kstoVg5FLL0WiMMqeokX3uA4kQkM2OVit4XVmeTjVEinIKpXAJDgR35psVg3F/WX3Q7JoDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"539c2859bfd909c11f749d15db19d61adfea9ad638f246ef87002fdb3a2dbadc","last_reissued_at":"2026-07-05T08:42:45.156657Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:42:45.156657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.08222","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":"2026-07-05T08:42:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3pCpmEr1A4VHrVuja/aUizvW7oGfwWZE1b4Kz032boHQDY3Xizv8Q0jheagtSLUmWOF/DDGJvHYenjK6clTIDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:44:16.370254Z"},"content_sha256":"f97becff83aea45f8d29b4e955ea70120fc5d8e8d4f5c2f303688d5b0ca9f132","schema_version":"1.0","event_id":"sha256:f97becff83aea45f8d29b4e955ea70120fc5d8e8d4f5c2f303688d5b0ca9f132"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KOOCQWN73EE4CH3UTUK5WGOWDL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PINN-Ray: A Physics-Informed Neural Network to Model Soft Robotic Fin Ray Fingers","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Howard, Joel Janek Dabrowski, Josh Pinskier, Lois Liow, Richard Scalzo, Vinoth Viswanathan, Xing Wang","submitted_at":"2024-07-11T06:46:02Z","abstract_excerpt":"Modelling complex deformation for soft robotics provides a guideline to understand their behaviour, leading to safe interaction with the environment. However, building a surrogate model with high accuracy and fast inference speed can be challenging for soft robotics due to the nonlinearity from complex geometry, large deformation, material nonlinearity etc. The reality gap from surrogate models also prevents their further deployment in the soft robotics domain. In this study, we proposed a physics-informed Neural Networks (PINNs) named PINN-Ray to model complex deformation for a Fin Ray soft r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.08222","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/2407.08222/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":"2026-07-05T08:42:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G+wxohqIlO1lhu0rUVksJp3e/MEPLg8imMY2cNqB2LQL/dN3Wk0Nj12WdK4OM41vb9siE+jXOZBrt5ecAyrcAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T09:44:16.370769Z"},"content_sha256":"6d28d8cee7362d061d13c9c7f652072c01e48bb0e73f0d455b55255e8b2bc523","schema_version":"1.0","event_id":"sha256:6d28d8cee7362d061d13c9c7f652072c01e48bb0e73f0d455b55255e8b2bc523"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/bundle.json","state_url":"https://pith.science/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/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":"2026-08-04T09:44:16Z","links":{"resolver":"https://pith.science/pith/KOOCQWN73EE4CH3UTUK5WGOWDL","bundle":"https://pith.science/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/bundle.json","state":"https://pith.science/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KOOCQWN73EE4CH3UTUK5WGOWDL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KOOCQWN73EE4CH3UTUK5WGOWDL","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":"1fade21510b78a5cad7d45cd40db60a621772eb3740fce59d2e2d933b0da15ec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-11T06:46:02Z","title_canon_sha256":"32432a9e797f9f921654a348859fb0c278a351c8be3cb89b200db00d694397d7"},"schema_version":"1.0","source":{"id":"2407.08222","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.08222","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"arxiv_version","alias_value":"2407.08222v1","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.08222","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_12","alias_value":"KOOCQWN73EE4","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_16","alias_value":"KOOCQWN73EE4CH3U","created_at":"2026-07-05T08:42:45Z"},{"alias_kind":"pith_short_8","alias_value":"KOOCQWN7","created_at":"2026-07-05T08:42:45Z"}],"graph_snapshots":[{"event_id":"sha256:6d28d8cee7362d061d13c9c7f652072c01e48bb0e73f0d455b55255e8b2bc523","target":"graph","created_at":"2026-07-05T08:42:45Z","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/2407.08222/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modelling complex deformation for soft robotics provides a guideline to understand their behaviour, leading to safe interaction with the environment. However, building a surrogate model with high accuracy and fast inference speed can be challenging for soft robotics due to the nonlinearity from complex geometry, large deformation, material nonlinearity etc. The reality gap from surrogate models also prevents their further deployment in the soft robotics domain. In this study, we proposed a physics-informed Neural Networks (PINNs) named PINN-Ray to model complex deformation for a Fin Ray soft r","authors_text":"David Howard, Joel Janek Dabrowski, Josh Pinskier, Lois Liow, Richard Scalzo, Vinoth Viswanathan, Xing Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-11T06:46:02Z","title":"PINN-Ray: A Physics-Informed Neural Network to Model Soft Robotic Fin Ray Fingers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.08222","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:f97becff83aea45f8d29b4e955ea70120fc5d8e8d4f5c2f303688d5b0ca9f132","target":"record","created_at":"2026-07-05T08:42:45Z","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":"1fade21510b78a5cad7d45cd40db60a621772eb3740fce59d2e2d933b0da15ec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-11T06:46:02Z","title_canon_sha256":"32432a9e797f9f921654a348859fb0c278a351c8be3cb89b200db00d694397d7"},"schema_version":"1.0","source":{"id":"2407.08222","kind":"arxiv","version":1}},"canonical_sha256":"539c2859bfd909c11f749d15db19d61adfea9ad638f246ef87002fdb3a2dbadc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"539c2859bfd909c11f749d15db19d61adfea9ad638f246ef87002fdb3a2dbadc","first_computed_at":"2026-07-05T08:42:45.156657Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:42:45.156657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ND0G3LPxf8iTFN2kstoVg5FLL0WiMMqeokX3uA4kQkM2OVit4XVmeTjVEinIKpXAJDgR35psVg3F/WX3Q7JoDg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:42:45.157066Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.08222","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f97becff83aea45f8d29b4e955ea70120fc5d8e8d4f5c2f303688d5b0ca9f132","sha256:6d28d8cee7362d061d13c9c7f652072c01e48bb0e73f0d455b55255e8b2bc523"],"state_sha256":"32089549835fab29daa99646501a75c0177f74e4535df02fd46c3eb8a03b02dd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZQE21t/G7vylXxTdeCp15EQIYUeBLxKWhA5ngK0xaDpmbMHbDYJCol7cM0OI8XeQbmso+iVnZIpK1PP9z+uCAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T09:44:16.376396Z","bundle_sha256":"c636dfc39c3f38e01721e42c756e65fca77b1af048fd2460d75aa71a0ae0d66a"}}