{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ROT7W5QPTGIOI5JWKWTFVFCOQA","short_pith_number":"pith:ROT7W5QP","canonical_record":{"source":{"id":"2606.09237","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:14:48Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c98303497669c646249188d0e06ade1c6f3aa8adc7764f894df2d1795b9957aa","abstract_canon_sha256":"e6ddb88c163328df65d5f83f6d61aa05936dc07a299ad5a9e06ab7b6f5de5c40"},"schema_version":"1.0"},"canonical_sha256":"8ba7fb760f9990e4753655a65a944e802144cb953f20d7b6216bd4afd0aef5e4","source":{"kind":"arxiv","id":"2606.09237","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09237","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09237v1","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09237","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_12","alias_value":"ROT7W5QPTGIO","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_16","alias_value":"ROT7W5QPTGIOI5JW","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_8","alias_value":"ROT7W5QP","created_at":"2026-06-09T02:08:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ROT7W5QPTGIOI5JWKWTFVFCOQA","target":"record","payload":{"canonical_record":{"source":{"id":"2606.09237","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:14:48Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c98303497669c646249188d0e06ade1c6f3aa8adc7764f894df2d1795b9957aa","abstract_canon_sha256":"e6ddb88c163328df65d5f83f6d61aa05936dc07a299ad5a9e06ab7b6f5de5c40"},"schema_version":"1.0"},"canonical_sha256":"8ba7fb760f9990e4753655a65a944e802144cb953f20d7b6216bd4afd0aef5e4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:08:09.210780Z","signature_b64":"jPNDWELyRaakf2Wsl5VXEY+phgEcR6F2yeWN8O40eeGRZkzh7hUcppQZBtbBZY+Xg3/Fi0IUr/M0Oz5E31zZDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8ba7fb760f9990e4753655a65a944e802144cb953f20d7b6216bd4afd0aef5e4","last_reissued_at":"2026-06-09T02:08:09.209774Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:08:09.209774Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.09237","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":"2026-06-09T02:08:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"99t6Xsw6A1yfXO2W0nHdLfbfDryhb4rE52WyuOfczpyVSLfDpgn8twqZ0wlHArIBnttSALAOrZSZONE6ccmMAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T22:32:25.611369Z"},"content_sha256":"1c87e5bd9250d98b1eddf7516b9e8f6cf4b288b2284d6e1733dabceb38431c4e","schema_version":"1.0","event_id":"sha256:1c87e5bd9250d98b1eddf7516b9e8f6cf4b288b2284d6e1733dabceb38431c4e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ROT7W5QPTGIOI5JWKWTFVFCOQA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Can we stabilize an inverted pendulum with feedback from a time-of-flight camera?","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea","submitted_at":"2026-06-08T09:14:48Z","abstract_excerpt":"Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial resolution and depth noise are widely believed to preclude precise feedback control. In this paper, we show that an inexpensive, low-resolution time-of-flight camera provides sufficient feedback to reliably and precisely balance an inverted pendulum on a cart--a canonical benchmark for fast, unstable dynamics."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09237","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/2606.09237/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":"2026-06-09T02:08:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HfTQqCAeH4aODSWrr9XWrqjESPG/RQXY04zl/cIZVJfjAz7VcN9E4gpyXnU5PC0/dj/FKv8/6nwp29BSFIE3BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T22:32:25.611887Z"},"content_sha256":"354585975dfa7a35a7111a90656ee0a3876e2e496249312ef50d217255f3ad0f","schema_version":"1.0","event_id":"sha256:354585975dfa7a35a7111a90656ee0a3876e2e496249312ef50d217255f3ad0f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/bundle.json","state_url":"https://pith.science/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/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":"2026-06-29T22:32:25Z","links":{"resolver":"https://pith.science/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA","bundle":"https://pith.science/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/bundle.json","state":"https://pith.science/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ROT7W5QPTGIOI5JWKWTFVFCOQA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ROT7W5QPTGIOI5JWKWTFVFCOQA","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":"e6ddb88c163328df65d5f83f6d61aa05936dc07a299ad5a9e06ab7b6f5de5c40","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:14:48Z","title_canon_sha256":"c98303497669c646249188d0e06ade1c6f3aa8adc7764f894df2d1795b9957aa"},"schema_version":"1.0","source":{"id":"2606.09237","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09237","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09237v1","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09237","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_12","alias_value":"ROT7W5QPTGIO","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_16","alias_value":"ROT7W5QPTGIOI5JW","created_at":"2026-06-09T02:08:09Z"},{"alias_kind":"pith_short_8","alias_value":"ROT7W5QP","created_at":"2026-06-09T02:08:09Z"}],"graph_snapshots":[{"event_id":"sha256:354585975dfa7a35a7111a90656ee0a3876e2e496249312ef50d217255f3ad0f","target":"graph","created_at":"2026-06-09T02:08:09Z","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/2606.09237/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial resolution and depth noise are widely believed to preclude precise feedback control. In this paper, we show that an inexpensive, low-resolution time-of-flight camera provides sufficient feedback to reliably and precisely balance an inverted pendulum on a cart--a canonical benchmark for fast, unstable dynamics.","authors_text":"Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:14:48Z","title":"Can we stabilize an inverted pendulum with feedback from a time-of-flight camera?"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09237","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":"sha256:1c87e5bd9250d98b1eddf7516b9e8f6cf4b288b2284d6e1733dabceb38431c4e","target":"record","created_at":"2026-06-09T02:08:09Z","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":"e6ddb88c163328df65d5f83f6d61aa05936dc07a299ad5a9e06ab7b6f5de5c40","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:14:48Z","title_canon_sha256":"c98303497669c646249188d0e06ade1c6f3aa8adc7764f894df2d1795b9957aa"},"schema_version":"1.0","source":{"id":"2606.09237","kind":"arxiv","version":1}},"canonical_sha256":"8ba7fb760f9990e4753655a65a944e802144cb953f20d7b6216bd4afd0aef5e4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8ba7fb760f9990e4753655a65a944e802144cb953f20d7b6216bd4afd0aef5e4","first_computed_at":"2026-06-09T02:08:09.209774Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:08:09.209774Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jPNDWELyRaakf2Wsl5VXEY+phgEcR6F2yeWN8O40eeGRZkzh7hUcppQZBtbBZY+Xg3/Fi0IUr/M0Oz5E31zZDg==","signature_status":"signed_v1","signed_at":"2026-06-09T02:08:09.210780Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09237","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1c87e5bd9250d98b1eddf7516b9e8f6cf4b288b2284d6e1733dabceb38431c4e","sha256:354585975dfa7a35a7111a90656ee0a3876e2e496249312ef50d217255f3ad0f"],"state_sha256":"f3ebedd728c6af7eb145fd7b57c6c66447939d8744894bee8c210d7299271b40"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"80Z56UAx+UluEWDbEVHj9/8T2CoYRywe6BbwjOS8vkIN5YZr2Q7BD1YZz27nrYWVVQyRYBKWYvSCMsoR8X5XDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-29T22:32:25.614486Z","bundle_sha256":"f9f7c984d31b859475caac61bdbd1527b87322e283936cc94d8f26d22d7868d2"}}