Pith Number

pith:S5HT3DSB

pith:2026:S5HT3DSBIZB7XGS5DR6FZI67SI

not attested not anchored not stored refs pending

Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control

Malte Huerkamp, Michael Beetz, Simon Stelter, Vanessa Hassouna

Motion Statecharts turn semantic task constraints into executable kinematic motions that transfer across robot platforms without retuning.

arxiv:2605.12053 v2 · 2026-05-12 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{S5HT3DSBIZB7XGS5DR6FZI67SI}

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.

Claims

C1strongest claim

Motion Statecharts are introduced as an executable symbolic representation for complex motions. They allow the arbitrary arrangement of motion constraints, monitors or nested statecharts in parallel and sequence. ... Cross-platform transferability was demonstrated by deploying the method on eight robot platforms.

C2weakest assumption

The unified differentiable kinematic world model of both robots and environments is sufficiently accurate and general to enable world-centric motion specification and generalization across embodiments without platform-specific tuning.

C3one line summary

Motion Statecharts with a differentiable kinematic world model and lMPC close the gap between semantic motion constraints and executable kinematic control, demonstrated on eight robot platforms via the open-source Giskard framework.

Formal links

1 machine-checked theorem link

Receipt and verification

First computed	2026-06-11T01:09:37.690616Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

974f3d8e414643fb9a5d1c7c5ca3df920577d4889f354b80c6eb69e1a4321e5b

Aliases

arxiv: 2605.12053 · arxiv_version: 2605.12053v2 · doi: 10.48550/arxiv.2605.12053 · pith_short_12: S5HT3DSBIZB7 · pith_short_16: S5HT3DSBIZB7XGS5 · pith_short_8: S5HT3DSB

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/S5HT3DSBIZB7XGS5DR6FZI67SI \
  | 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: 974f3d8e414643fb9a5d1c7c5ca3df920577d4889f354b80c6eb69e1a4321e5b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8e2cdf46b728847aa523519d32b37a400b80c6f5ce98eddff63796e25c12f1b1",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-12T12:35:25Z",
    "title_canon_sha256": "20c80b77618739a642c0b05fe626b9902301713c5c3b94899f110f592b69aac3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.12053",
    "kind": "arxiv",
    "version": 2
  }
}