Pith Number

pith:6TY7X7MG

pith:2023:6TY7X7MGA5CGIIFWJG4IMCUMOO

not attested not anchored not stored refs pending

A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions

Ersin Da\c{s}, Joel W. Burdick, Neil C. Janwani, Skylar X. Wei, Tamas G. Molnar, Thomas Touma

arxiv:2310.05865 v3 · 2023-10-09 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6TY7X7MGA5CGIIFWJG4IMCUMOO}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T07:53:11.485694Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f4f1fbfd8607446420b649b8860a8c7381ceff5c70467473d6398625834b6acd

Aliases

arxiv: 2310.05865 · arxiv_version: 2310.05865v3 · doi: 10.48550/arxiv.2310.05865 · pith_short_12: 6TY7X7MGA5CG · pith_short_16: 6TY7X7MGA5CGIIFW · pith_short_8: 6TY7X7MG

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/6TY7X7MGA5CGIIFWJG4IMCUMOO \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f4f1fbfd8607446420b649b8860a8c7381ceff5c70467473d6398625834b6acd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d101b68cb8332f2bbfe1eb7883081ecc3b00d0d05dbd4965a3e6240fd5533576",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-10-09T17:02:50Z",
    "title_canon_sha256": "da34bda77bcd14de9738a071912c38c01d5cfb01b42f9988ed39eda38bf3eb03"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2310.05865",
    "kind": "arxiv",
    "version": 3
  }
}