{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:IWSOMYOQHNKDIRSD6THLWZE5J5","short_pith_number":"pith:IWSOMYOQ","canonical_record":{"source":{"id":"2010.06246","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-13T09:15:00Z","cross_cats_sorted":[],"title_canon_sha256":"8452881a80b89d776b9a4082bb0bc7b6e9fe1bc2b583594a15a54876658cbe46","abstract_canon_sha256":"dcf8e61e2ad741c518c8e2d755eaa3e0a13a38ed8ca5366e20c0fc3c2cf0220d"},"schema_version":"1.0"},"canonical_sha256":"45a4e661d03b54344643f4cebb649d4f6c8263ef248af38f4ae38378edd3f16b","source":{"kind":"arxiv","id":"2010.06246","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.06246","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"arxiv_version","alias_value":"2010.06246v2","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.06246","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_12","alias_value":"IWSOMYOQHNKD","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_16","alias_value":"IWSOMYOQHNKDIRSD","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_8","alias_value":"IWSOMYOQ","created_at":"2026-07-05T06:54:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:IWSOMYOQHNKDIRSD6THLWZE5J5","target":"record","payload":{"canonical_record":{"source":{"id":"2010.06246","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-13T09:15:00Z","cross_cats_sorted":[],"title_canon_sha256":"8452881a80b89d776b9a4082bb0bc7b6e9fe1bc2b583594a15a54876658cbe46","abstract_canon_sha256":"dcf8e61e2ad741c518c8e2d755eaa3e0a13a38ed8ca5366e20c0fc3c2cf0220d"},"schema_version":"1.0"},"canonical_sha256":"45a4e661d03b54344643f4cebb649d4f6c8263ef248af38f4ae38378edd3f16b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:54:10.792593Z","signature_b64":"2jy+ow+YFMOo2MLGBm1YnlJZ4oIzjBfqTcEF8TmVYWWxPPQrtHukFWVRdZdl3TSrtD6cFjaclqoptZjJel3kAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"45a4e661d03b54344643f4cebb649d4f6c8263ef248af38f4ae38378edd3f16b","last_reissued_at":"2026-07-05T06:54:10.792218Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:54:10.792218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2010.06246","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":"2026-07-05T06:54:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XmH33IEfE4G20PNRqhmWk8W/1FczyfFu22dubWrFDuCkDKPzFTM3Qvtl9+Hkq3fzhg103ekH5MFcejCv5Md6CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:18:50.114419Z"},"content_sha256":"34a62a302baa8e9fa459760fcb8faeb37bf314225bc34496964fac689024dd70","schema_version":"1.0","event_id":"sha256:34a62a302baa8e9fa459760fcb8faeb37bf314225bc34496964fac689024dd70"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:IWSOMYOQHNKDIRSD6THLWZE5J5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Variable impedance control and learning -- A review","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fares J. Abu-Dakka, Matteo Saveriano","submitted_at":"2020-10-13T09:15:00Z","abstract_excerpt":"Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in robotics to avoid large impact forces while operating in unstructured environments. In such environments, the conditions under which the interaction occurs may significantly vary during the task execution. This demands robots to be endowed with on-line adaptation capabilities to cope with sudden and unexpected changes in the environment. In th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.06246","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/2010.06246/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":"2026-07-05T06:54:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AefJHn1WoCPHISMH+PwBDtYxkPDiOEhmFwwhyg/IN1Cp1qkquY7njtAKxvO0m64UWXWGj5jj38lM0m6lu52sAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:18:50.114995Z"},"content_sha256":"c58ffa2b875768f3cc76a79335da88945799512f12257b3f3b3f3238368ca3ed","schema_version":"1.0","event_id":"sha256:c58ffa2b875768f3cc76a79335da88945799512f12257b3f3b3f3238368ca3ed"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/bundle.json","state_url":"https://pith.science/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/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":"2026-08-17T07:18:50Z","links":{"resolver":"https://pith.science/pith/IWSOMYOQHNKDIRSD6THLWZE5J5","bundle":"https://pith.science/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/bundle.json","state":"https://pith.science/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IWSOMYOQHNKDIRSD6THLWZE5J5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:IWSOMYOQHNKDIRSD6THLWZE5J5","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":"dcf8e61e2ad741c518c8e2d755eaa3e0a13a38ed8ca5366e20c0fc3c2cf0220d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-13T09:15:00Z","title_canon_sha256":"8452881a80b89d776b9a4082bb0bc7b6e9fe1bc2b583594a15a54876658cbe46"},"schema_version":"1.0","source":{"id":"2010.06246","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.06246","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"arxiv_version","alias_value":"2010.06246v2","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.06246","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_12","alias_value":"IWSOMYOQHNKD","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_16","alias_value":"IWSOMYOQHNKDIRSD","created_at":"2026-07-05T06:54:10Z"},{"alias_kind":"pith_short_8","alias_value":"IWSOMYOQ","created_at":"2026-07-05T06:54:10Z"}],"graph_snapshots":[{"event_id":"sha256:c58ffa2b875768f3cc76a79335da88945799512f12257b3f3b3f3238368ca3ed","target":"graph","created_at":"2026-07-05T06:54:10Z","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/2010.06246/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in robotics to avoid large impact forces while operating in unstructured environments. In such environments, the conditions under which the interaction occurs may significantly vary during the task execution. This demands robots to be endowed with on-line adaptation capabilities to cope with sudden and unexpected changes in the environment. In th","authors_text":"Fares J. Abu-Dakka, Matteo Saveriano","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-13T09:15:00Z","title":"Variable impedance control and learning -- A review"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.06246","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":"sha256:34a62a302baa8e9fa459760fcb8faeb37bf314225bc34496964fac689024dd70","target":"record","created_at":"2026-07-05T06:54:10Z","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":"dcf8e61e2ad741c518c8e2d755eaa3e0a13a38ed8ca5366e20c0fc3c2cf0220d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-13T09:15:00Z","title_canon_sha256":"8452881a80b89d776b9a4082bb0bc7b6e9fe1bc2b583594a15a54876658cbe46"},"schema_version":"1.0","source":{"id":"2010.06246","kind":"arxiv","version":2}},"canonical_sha256":"45a4e661d03b54344643f4cebb649d4f6c8263ef248af38f4ae38378edd3f16b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"45a4e661d03b54344643f4cebb649d4f6c8263ef248af38f4ae38378edd3f16b","first_computed_at":"2026-07-05T06:54:10.792218Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:54:10.792218Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2jy+ow+YFMOo2MLGBm1YnlJZ4oIzjBfqTcEF8TmVYWWxPPQrtHukFWVRdZdl3TSrtD6cFjaclqoptZjJel3kAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:54:10.792593Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.06246","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:34a62a302baa8e9fa459760fcb8faeb37bf314225bc34496964fac689024dd70","sha256:c58ffa2b875768f3cc76a79335da88945799512f12257b3f3b3f3238368ca3ed"],"state_sha256":"00f7ed0fc2e5ce5ede9cf3258f7d152dcaa787f45722c1547e1d34dd691f4447"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n9DelbACBf3+fOy+JVJy7GADahxGIyodmf2fztwEnckyj/Yofm0J3V3Xr2AypLMq7Ss2cfbcHWQiMlPrMkxuDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T07:18:50.118551Z","bundle_sha256":"1187cca8cc443e9ea0818e884404f4755791b7eb180b7cd8eb4e5d0ebe24884a"}}