Pith Number

pith:3T4DM6TX

pith:2026:3T4DM6TX3TVLODJ2Z5HZLK2IU5

not attested not anchored not stored refs pending

Reactive Motion Generation via Phase-varying Neural Potential Functions

Ahmet Tekden, Aude Billard, Dimitrios Kanoulas, Yasemin Bekiroglu

PNPF learns phase-conditioned neural potential functions from demonstrations to produce stable, reactive vector fields that handle state revisits in point-to-point, periodic, and 6D robotic tasks.

arxiv:2604.26450 v1 · 2026-04-29 · 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{3T4DM6TX3TVLODJ2Z5HZLK2IU5}

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

PNPF generalizes effectively across point-to-point, periodic, and full 6D motion tasks, outperforms existing baselines on trajectories with intersections, and demonstrates robust performance in real-time robotic manipulation under external disturbances.

C2weakest assumption

That a phase variable can be reliably estimated directly from state progression in a way that disambiguates motion direction at intersections without introducing sensitivity to disturbances or failing on near-identical state pairs.

C3one line summary

PNPF learns phase-conditioned neural potential functions from demonstrations to produce stable, reactive vector fields that handle state revisits in point-to-point, periodic, and 6D robotic tasks.

Receipt and verification

First computed	2026-05-20T00:05:45.483757Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

dcf8367a77dceab70d3acf4f95ab48a766143fa0c3f4d410069ccdcf6c5878ef

Aliases

arxiv: 2604.26450 · arxiv_version: 2604.26450v1 · doi: 10.48550/arxiv.2604.26450 · pith_short_12: 3T4DM6TX3TVL · pith_short_16: 3T4DM6TX3TVLODJ2 · pith_short_8: 3T4DM6TX

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/3T4DM6TX3TVLODJ2Z5HZLK2IU5 \
  | 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: dcf8367a77dceab70d3acf4f95ab48a766143fa0c3f4d410069ccdcf6c5878ef

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "04f2190448a6d4281e08feb84a86e5499a910e09b5e1707df0c6d473d52bf3c4",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-29T09:05:27Z",
    "title_canon_sha256": "4956dc907d8b37df62e4fd1ebafa795b1e653915569f46d3b4ce34ac91fc9c02"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.26450",
    "kind": "arxiv",
    "version": 1
  }
}