Pith Number

pith:BNHXBB4R

pith:2026:BNHXBB4ROGJI3VOG6VG6YIXXVP

not attested not anchored not stored refs pending

Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction

Danyal Saqib, Francisco Andrade Chavez, Marie Charbonneau

arxiv:2606.00459 v1 · 2026-05-30 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BNHXBB4ROGJI3VOG6VG6YIXXVP}

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.

Receipt and verification

First computed	2026-06-02T01:03:55.308190Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0b4f70879171928dd5c6f54dec22f7abc15d72feeb48b295db4a71e568e8cd76

Aliases

arxiv: 2606.00459 · arxiv_version: 2606.00459v1 · doi: 10.48550/arxiv.2606.00459 · pith_short_12: BNHXBB4ROGJI · pith_short_16: BNHXBB4ROGJI3VOG · pith_short_8: BNHXBB4R

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/BNHXBB4ROGJI3VOG6VG6YIXXVP \
  | 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: 0b4f70879171928dd5c6f54dec22f7abc15d72feeb48b295db4a71e568e8cd76

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0a7d59f3a8e111c4b794c035cf61f46f06f7d6b7f85b2ad004b839c410a2f3c1",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-30T00:52:48Z",
    "title_canon_sha256": "3cad1b297599230950c954a68a7154eb2fe8b77710638fa22c863bf1efc3103f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.00459",
    "kind": "arxiv",
    "version": 1
  }
}