{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2532SX3AOMPFAXA4MQR3DTZCAP","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":"7ef0395d9c9932b12738126128a7fa4a7f86028b4255664a193ee519c5d3eb7b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-05T12:33:11Z","title_canon_sha256":"0a97d7131dcd392867808af11cbfc49e7282e4f4d73149decd1bf16eae379a56"},"schema_version":"1.0","source":{"id":"2406.03200","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.03200","created_at":"2026-07-05T11:10:46Z"},{"alias_kind":"arxiv_version","alias_value":"2406.03200v2","created_at":"2026-07-05T11:10:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.03200","created_at":"2026-07-05T11:10:46Z"},{"alias_kind":"pith_short_12","alias_value":"2532SX3AOMPF","created_at":"2026-07-05T11:10:46Z"},{"alias_kind":"pith_short_16","alias_value":"2532SX3AOMPFAXA4","created_at":"2026-07-05T11:10:46Z"},{"alias_kind":"pith_short_8","alias_value":"2532SX3A","created_at":"2026-07-05T11:10:46Z"}],"graph_snapshots":[{"event_id":"sha256:5a62c283b731b5518cd147e4a93b5b3c03f537d7541dd12c30e0e4fef5fea12f","target":"graph","created_at":"2026-07-05T11:10:46Z","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/2406.03200/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Florian T. Pokorny, Rafael I. Cabral Muchacho","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-05T12:33:11Z","title":"Adaptive Distance Functions via Kelvin Transformation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.03200","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":"sha256:866dc4d0f22b581430fe2e7d3d7cc16a81cd864b579498b6999420cec3bbc867","target":"record","created_at":"2026-07-05T11:10:46Z","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":"7ef0395d9c9932b12738126128a7fa4a7f86028b4255664a193ee519c5d3eb7b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-05T12:33:11Z","title_canon_sha256":"0a97d7131dcd392867808af11cbfc49e7282e4f4d73149decd1bf16eae379a56"},"schema_version":"1.0","source":{"id":"2406.03200","kind":"arxiv","version":2}},"canonical_sha256":"d777a95f60731e505c1c6423b1cf2203fed97cb1f29adcdf6ceadbd1e4db8043","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d777a95f60731e505c1c6423b1cf2203fed97cb1f29adcdf6ceadbd1e4db8043","first_computed_at":"2026-07-05T11:10:46.116798Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:10:46.116798Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"q8hJo+sv0IPQjP4Jg9w3Ui/4NosbeUL3ZSo3pYAji5t+XuCZ7Z58aTcUyam4ypNqucCoGMeS5BoAUn58LehUCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:10:46.117293Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.03200","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:866dc4d0f22b581430fe2e7d3d7cc16a81cd864b579498b6999420cec3bbc867","sha256:5a62c283b731b5518cd147e4a93b5b3c03f537d7541dd12c30e0e4fef5fea12f"],"state_sha256":"261e020af26ec6d639f86bf2f8bad46455d6977ce8eb09a75a656ceb7c14802a"}