Pith Number

pith:GH6WX6UJ

pith:2025:GH6WX6UJTEQVNNTGGF4Z2RKA2O

not attested not anchored not stored refs pending

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics

Aaron D. Ames, Blake Werner, David Fridovich-Keil, Lizhi Yang, Preston Culbertson, Ryan K. Cosner

arxiv:2505.11494 v3 · 2025-05-16 · 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{GH6WX6UJTEQVNNTGGF4Z2RKA2O}

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.

Cited by

1 paper in Pith

CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection

Receipt and verification

First computed	2026-06-23T03:13:45.332293Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

31fd6bfa89992156b66631799d4540d3a1a779c1ffd447a154c79fe53c0acacb

Aliases

arxiv: 2505.11494 · arxiv_version: 2505.11494v3 · doi: 10.48550/arxiv.2505.11494 · pith_short_12: GH6WX6UJTEQV · pith_short_16: GH6WX6UJTEQVNNTG · pith_short_8: GH6WX6UJ

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/GH6WX6UJTEQVNNTGGF4Z2RKA2O \
  | 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: 31fd6bfa89992156b66631799d4540d3a1a779c1ffd447a154c79fe53c0acacb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d92f69df08b6c18b18cb34c6a718d34402bde1ac3befac6b986c996b56882485",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-16T17:57:03Z",
    "title_canon_sha256": "7db64d0eb125e74b3e76923fa869e27b914a63e7fd9150ad1f0295e22c0ae316"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.11494",
    "kind": "arxiv",
    "version": 3
  }
}