{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:ECCZ4EIUNAQ4EK7LIA3TQOZHGN","short_pith_number":"pith:ECCZ4EIU","canonical_record":{"source":{"id":"2312.11163","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-18T13:06:12Z","cross_cats_sorted":[],"title_canon_sha256":"024dccf71400514a618fd2d6e4bd8c69911812a30fc1ca739dc8f360d8e4f3f3","abstract_canon_sha256":"68ca2db9f17d169beef8cfc9ce1c646f8e7f65e856c2708ef9de353801794d17"},"schema_version":"1.0"},"canonical_sha256":"20859e11146821c22beb4037383b27337e638111632d18a35e32da5a6e93fdb4","source":{"kind":"arxiv","id":"2312.11163","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.11163","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"arxiv_version","alias_value":"2312.11163v1","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.11163","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_12","alias_value":"ECCZ4EIUNAQ4","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_16","alias_value":"ECCZ4EIUNAQ4EK7L","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_8","alias_value":"ECCZ4EIU","created_at":"2026-07-05T07:25:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:ECCZ4EIUNAQ4EK7LIA3TQOZHGN","target":"record","payload":{"canonical_record":{"source":{"id":"2312.11163","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-18T13:06:12Z","cross_cats_sorted":[],"title_canon_sha256":"024dccf71400514a618fd2d6e4bd8c69911812a30fc1ca739dc8f360d8e4f3f3","abstract_canon_sha256":"68ca2db9f17d169beef8cfc9ce1c646f8e7f65e856c2708ef9de353801794d17"},"schema_version":"1.0"},"canonical_sha256":"20859e11146821c22beb4037383b27337e638111632d18a35e32da5a6e93fdb4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:25:29.173060Z","signature_b64":"epTRHoakXEVp2yM8u/4ewlhX3OSzr5IEHaZ9NehPbS3V77BjqceUE4eqRHFYQugqDx7Z0g9DbUckeFzhn6gEBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"20859e11146821c22beb4037383b27337e638111632d18a35e32da5a6e93fdb4","last_reissued_at":"2026-07-05T07:25:29.172651Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:25:29.172651Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.11163","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:25:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nF45mvCMztj9Xb1CAYIcVd5jZh3efE1YzxomAHwvhTUNYvA9qbQ0hEXr+1lD1SvH1AZMPq/nHYFcx1rkBkdpDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T23:35:16.502481Z"},"content_sha256":"cabc1636228f22d60bb89cc937da0148d94321334c174821b85471fe951e1881","schema_version":"1.0","event_id":"sha256:cabc1636228f22d60bb89cc937da0148d94321334c174821b85471fe951e1881"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:ECCZ4EIUNAQ4EK7LIA3TQOZHGN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Energy-Aware Hierarchical Control of Joint Velocities","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Hornung, Daniel Rixen, Jonas Wittmann, Korbinian Griesbauer","submitted_at":"2023-12-18T13:06:12Z","abstract_excerpt":"Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageous configuration, etc. Each task demands different joint control commands, which may counteract each other. We present a hierarchical control that, depending on the robot and environment state, determines online a suitable priority among those tasks. Thereby, the control command of a lower-prioritized task never hinders the control command of a higher-prioriti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.11163","kind":"arxiv","version":1},"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/2312.11163/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:25:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DE8nh6zF+IB3LesapMap9aZrg/YSFKgdi0BT5mlm1xSxsUlbNLjQRAfbrPNkHpHUOApBw5BZwu4IhQSu739EDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T23:35:16.502852Z"},"content_sha256":"37dfc78419b06ebe03edfea36596e51312df44c8b8aef875e06da7008c8113ae","schema_version":"1.0","event_id":"sha256:37dfc78419b06ebe03edfea36596e51312df44c8b8aef875e06da7008c8113ae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/bundle.json","state_url":"https://pith.science/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-21T23:35:16Z","links":{"resolver":"https://pith.science/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN","bundle":"https://pith.science/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/bundle.json","state":"https://pith.science/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ECCZ4EIUNAQ4EK7LIA3TQOZHGN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:ECCZ4EIUNAQ4EK7LIA3TQOZHGN","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":"68ca2db9f17d169beef8cfc9ce1c646f8e7f65e856c2708ef9de353801794d17","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-18T13:06:12Z","title_canon_sha256":"024dccf71400514a618fd2d6e4bd8c69911812a30fc1ca739dc8f360d8e4f3f3"},"schema_version":"1.0","source":{"id":"2312.11163","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.11163","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"arxiv_version","alias_value":"2312.11163v1","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.11163","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_12","alias_value":"ECCZ4EIUNAQ4","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_16","alias_value":"ECCZ4EIUNAQ4EK7L","created_at":"2026-07-05T07:25:29Z"},{"alias_kind":"pith_short_8","alias_value":"ECCZ4EIU","created_at":"2026-07-05T07:25:29Z"}],"graph_snapshots":[{"event_id":"sha256:37dfc78419b06ebe03edfea36596e51312df44c8b8aef875e06da7008c8113ae","target":"graph","created_at":"2026-07-05T07:25:29Z","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/2312.11163/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageous configuration, etc. Each task demands different joint control commands, which may counteract each other. We present a hierarchical control that, depending on the robot and environment state, determines online a suitable priority among those tasks. Thereby, the control command of a lower-prioritized task never hinders the control command of a higher-prioriti","authors_text":"Daniel Hornung, Daniel Rixen, Jonas Wittmann, Korbinian Griesbauer","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-18T13:06:12Z","title":"Energy-Aware Hierarchical Control of Joint Velocities"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.11163","kind":"arxiv","version":1},"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:cabc1636228f22d60bb89cc937da0148d94321334c174821b85471fe951e1881","target":"record","created_at":"2026-07-05T07:25:29Z","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":"68ca2db9f17d169beef8cfc9ce1c646f8e7f65e856c2708ef9de353801794d17","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-18T13:06:12Z","title_canon_sha256":"024dccf71400514a618fd2d6e4bd8c69911812a30fc1ca739dc8f360d8e4f3f3"},"schema_version":"1.0","source":{"id":"2312.11163","kind":"arxiv","version":1}},"canonical_sha256":"20859e11146821c22beb4037383b27337e638111632d18a35e32da5a6e93fdb4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"20859e11146821c22beb4037383b27337e638111632d18a35e32da5a6e93fdb4","first_computed_at":"2026-07-05T07:25:29.172651Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:25:29.172651Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"epTRHoakXEVp2yM8u/4ewlhX3OSzr5IEHaZ9NehPbS3V77BjqceUE4eqRHFYQugqDx7Z0g9DbUckeFzhn6gEBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:25:29.173060Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.11163","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cabc1636228f22d60bb89cc937da0148d94321334c174821b85471fe951e1881","sha256:37dfc78419b06ebe03edfea36596e51312df44c8b8aef875e06da7008c8113ae"],"state_sha256":"9b824c9afe4abf3d52f5d33777eb407140b2dc5cf732b06192febe38f8209e1b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gnGQGsluEA9svNUoRsTLsTe3I4mD+q8wn8Z58bKcY+HOyu3IjIoVAvxYpPnohCUdykakFRZj4EsavMmAbrG6Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T23:35:16.505348Z","bundle_sha256":"2462098387e532f2dc4bc71515d2e62ea70770eb87d227d0c55e69f392650af6"}}