{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:2532SX3AOMPFAXA4MQR3DTZCAP","short_pith_number":"pith:2532SX3A","schema_version":"1.0","canonical_sha256":"d777a95f60731e505c1c6423b1cf2203fed97cb1f29adcdf6ceadbd1e4db8043","source":{"kind":"arxiv","id":"2406.03200","version":2},"attestation_state":"computed","paper":{"title":"Adaptive Distance Functions via Kelvin Transformation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Florian T. Pokorny, Rafael I. Cabral Muchacho","submitted_at":"2024-06-05T12:33:11Z","abstract_excerpt":"The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of this perspective is necessary to include task semantics relevant to contact-rich manipulation tasks, especially during teleoperation and to ensure the safety of learned policies. We introduce the semantics-aware distance function and a corresponding computational method based on the Kelvin Transformation. This allows us to compute smooth distance approximations in an unbounded domain by instead solving a Laplace equ"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2406.03200","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-05T12:33:11Z","cross_cats_sorted":[],"title_canon_sha256":"0a97d7131dcd392867808af11cbfc49e7282e4f4d73149decd1bf16eae379a56","abstract_canon_sha256":"7ef0395d9c9932b12738126128a7fa4a7f86028b4255664a193ee519c5d3eb7b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:10:46.117293Z","signature_b64":"q8hJo+sv0IPQjP4Jg9w3Ui/4NosbeUL3ZSo3pYAji5t+XuCZ7Z58aTcUyam4ypNqucCoGMeS5BoAUn58LehUCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d777a95f60731e505c1c6423b1cf2203fed97cb1f29adcdf6ceadbd1e4db8043","last_reissued_at":"2026-07-05T11:10:46.116798Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:10:46.116798Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Adaptive Distance Functions via Kelvin Transformation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Florian T. Pokorny, Rafael I. Cabral Muchacho","submitted_at":"2024-06-05T12:33:11Z","abstract_excerpt":"The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of this perspective is necessary to include task semantics relevant to contact-rich manipulation tasks, especially during teleoperation and to ensure the safety of learned policies. We introduce the semantics-aware distance function and a corresponding computational method based on the Kelvin Transformation. This allows us to compute smooth distance approximations in an unbounded domain by instead solving a Laplace equ"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.03200","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/2406.03200/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2406.03200","created_at":"2026-07-05T11:10:46.116857+00:00"},{"alias_kind":"arxiv_version","alias_value":"2406.03200v2","created_at":"2026-07-05T11:10:46.116857+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.03200","created_at":"2026-07-05T11:10:46.116857+00:00"},{"alias_kind":"pith_short_12","alias_value":"2532SX3AOMPF","created_at":"2026-07-05T11:10:46.116857+00:00"},{"alias_kind":"pith_short_16","alias_value":"2532SX3AOMPFAXA4","created_at":"2026-07-05T11:10:46.116857+00:00"},{"alias_kind":"pith_short_8","alias_value":"2532SX3A","created_at":"2026-07-05T11:10:46.116857+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP","json":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP.json","graph_json":"https://pith.science/api/pith-number/2532SX3AOMPFAXA4MQR3DTZCAP/graph.json","events_json":"https://pith.science/api/pith-number/2532SX3AOMPFAXA4MQR3DTZCAP/events.json","paper":"https://pith.science/paper/2532SX3A"},"agent_actions":{"view_html":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP","download_json":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP.json","view_paper":"https://pith.science/paper/2532SX3A","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2406.03200&json=true","fetch_graph":"https://pith.science/api/pith-number/2532SX3AOMPFAXA4MQR3DTZCAP/graph.json","fetch_events":"https://pith.science/api/pith-number/2532SX3AOMPFAXA4MQR3DTZCAP/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP/action/timestamp_anchor","attest_storage":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP/action/storage_attestation","attest_author":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP/action/author_attestation","sign_citation":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP/action/citation_signature","submit_replication":"https://pith.science/pith/2532SX3AOMPFAXA4MQR3DTZCAP/action/replication_record"}},"created_at":"2026-07-05T11:10:46.116857+00:00","updated_at":"2026-07-05T11:10:46.116857+00:00"}