{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:VH4SYYIFIETJ7KFLARPWR2WU6B","short_pith_number":"pith:VH4SYYIF","canonical_record":{"source":{"id":"2605.10696","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T15:11:45Z","cross_cats_sorted":[],"title_canon_sha256":"dca88b5fa105492a9c5d83dfc4d9a5f812b088f49379989e808f08d66f2bab46","abstract_canon_sha256":"709d518fe2f669d6c7bb1eab8cb59de801ca89630c47def5edea7795a309e9ca"},"schema_version":"1.0"},"canonical_sha256":"a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0","source":{"kind":"arxiv","id":"2605.10696","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.10696","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"arxiv_version","alias_value":"2605.10696v2","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.10696","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_12","alias_value":"VH4SYYIFIETJ","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_16","alias_value":"VH4SYYIFIETJ7KFL","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_8","alias_value":"VH4SYYIF","created_at":"2026-05-22T01:04:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:VH4SYYIFIETJ7KFLARPWR2WU6B","target":"record","payload":{"canonical_record":{"source":{"id":"2605.10696","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T15:11:45Z","cross_cats_sorted":[],"title_canon_sha256":"dca88b5fa105492a9c5d83dfc4d9a5f812b088f49379989e808f08d66f2bab46","abstract_canon_sha256":"709d518fe2f669d6c7bb1eab8cb59de801ca89630c47def5edea7795a309e9ca"},"schema_version":"1.0"},"canonical_sha256":"a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-22T01:04:05.959782Z","signature_b64":"PBv29u/sdNWGuDD15RV+ptwVp82WuPqMvBJgJgPHzE6YiLk++RFA19b5ZvNLZMuluVSH9IIeMcsaWcyjaOSDCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0","last_reissued_at":"2026-05-22T01:04:05.959082Z","signature_status":"signed_v1","first_computed_at":"2026-05-22T01:04:05.959082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.10696","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-22T01:04:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SSn/nIY0xzwPKFHW95vmvf1NFyFZwDQkjn+vdki3pKqyOV9f7DCmLpLVSLTugUGd7N0cQX4wvbcXZ1I8RL8qCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T04:18:14.948213Z"},"content_sha256":"62151cb63f8fe8c605fb03d7db1c7c2f222b79e785e728573af326ea5534043c","schema_version":"1.0","event_id":"sha256:62151cb63f8fe8c605fb03d7db1c7c2f222b79e785e728573af326ea5534043c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:VH4SYYIFIETJ7KFLARPWR2WU6B","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiaming Wang, Lingwei Zhang, Tianlin Zhang, Weipeng Xia, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li","submitted_at":"2026-05-11T15:11:45Z","abstract_excerpt":"Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA r"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"c9c06819bac8234ae57df65155f2f7f1a5151381f130cf55a11783f208b90392"},"source":{"id":"2605.10696","kind":"arxiv","version":2},"verdict":{"id":"0cb5f309-5269-4cb8-a4f3-e32470cfa5e8","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-12T04:28:50.036059Z","strongest_claim":"We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.","one_line_summary":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction.","pith_extraction_headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.10696/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-20T05:22:00.459584Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T14:38:03.461953Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_title_agreement","ran_at":"2026-05-19T11:01:17.088968Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_compliance","ran_at":"2026-05-19T09:03:05.012826Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"14732bc1b601f7d2872bb931aba8b2332268c5ee38ce01486da636c7d920d116"},"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":"0cb5f309-5269-4cb8-a4f3-e32470cfa5e8"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-22T01:04:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ineqE31M7HDO7wJudBSzn2rYsxBb1oZgL3/nx8+StS/UbcygTYT3M7fpUKQ7GnF58hWguc4+loA6MCxqvam+Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T04:18:14.948765Z"},"content_sha256":"c3f810513eb7894b1967b654a48b79d438d1fdde316830c61fd748b3863cea49","schema_version":"1.0","event_id":"sha256:c3f810513eb7894b1967b654a48b79d438d1fdde316830c61fd748b3863cea49"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/bundle.json","state_url":"https://pith.science/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/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":"2026-05-31T04:18:14Z","links":{"resolver":"https://pith.science/pith/VH4SYYIFIETJ7KFLARPWR2WU6B","bundle":"https://pith.science/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/bundle.json","state":"https://pith.science/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VH4SYYIFIETJ7KFLARPWR2WU6B/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:VH4SYYIFIETJ7KFLARPWR2WU6B","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":"709d518fe2f669d6c7bb1eab8cb59de801ca89630c47def5edea7795a309e9ca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T15:11:45Z","title_canon_sha256":"dca88b5fa105492a9c5d83dfc4d9a5f812b088f49379989e808f08d66f2bab46"},"schema_version":"1.0","source":{"id":"2605.10696","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.10696","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"arxiv_version","alias_value":"2605.10696v2","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.10696","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_12","alias_value":"VH4SYYIFIETJ","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_16","alias_value":"VH4SYYIFIETJ7KFL","created_at":"2026-05-22T01:04:05Z"},{"alias_kind":"pith_short_8","alias_value":"VH4SYYIF","created_at":"2026-05-22T01:04:05Z"}],"graph_snapshots":[{"event_id":"sha256:c3f810513eb7894b1967b654a48b79d438d1fdde316830c61fd748b3863cea49","target":"graph","created_at":"2026-05-22T01:04:05Z","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":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators."}],"snapshot_sha256":"c9c06819bac8234ae57df65155f2f7f1a5151381f130cf55a11783f208b90392"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-20T05:22:00.459584Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T14:38:03.461953Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"doi_title_agreement","ran_at":"2026-05-19T11:01:17.088968Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"doi_compliance","ran_at":"2026-05-19T09:03:05.012826Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.10696/integrity.json","findings":[],"snapshot_sha256":"14732bc1b601f7d2872bb931aba8b2332268c5ee38ce01486da636c7d920d116","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA r","authors_text":"Jiaming Wang, Lingwei Zhang, Tianlin Zhang, Weipeng Xia, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li","cross_cats":[],"headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T15:11:45Z","title":"VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.10696","kind":"arxiv","version":2},"verdict":{"created_at":"2026-05-12T04:28:50.036059Z","id":"0cb5f309-5269-4cb8-a4f3-e32470cfa5e8","model_set":{"reader":"grok-4.3"},"one_line_summary":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","strongest_claim":"We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.","weakest_assumption":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction."}},"verdict_id":"0cb5f309-5269-4cb8-a4f3-e32470cfa5e8"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:62151cb63f8fe8c605fb03d7db1c7c2f222b79e785e728573af326ea5534043c","target":"record","created_at":"2026-05-22T01:04:05Z","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":"709d518fe2f669d6c7bb1eab8cb59de801ca89630c47def5edea7795a309e9ca","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T15:11:45Z","title_canon_sha256":"dca88b5fa105492a9c5d83dfc4d9a5f812b088f49379989e808f08d66f2bab46"},"schema_version":"1.0","source":{"id":"2605.10696","kind":"arxiv","version":2}},"canonical_sha256":"a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a9f92c610541269fa8ab045f68ead4f04694888598f616b109f7abe08a57f8d0","first_computed_at":"2026-05-22T01:04:05.959082Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-22T01:04:05.959082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PBv29u/sdNWGuDD15RV+ptwVp82WuPqMvBJgJgPHzE6YiLk++RFA19b5ZvNLZMuluVSH9IIeMcsaWcyjaOSDCA==","signature_status":"signed_v1","signed_at":"2026-05-22T01:04:05.959782Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.10696","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62151cb63f8fe8c605fb03d7db1c7c2f222b79e785e728573af326ea5534043c","sha256:c3f810513eb7894b1967b654a48b79d438d1fdde316830c61fd748b3863cea49"],"state_sha256":"10c5efebe8e4cc4a485a0559b026c9904a7dc604731389c6608c9f5431a9f813"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"db76k6d3khE7AGGtKJjsbCRIKdw8QlukE1OStRhuesecDbRr71rf2Mp+qJ+acoUN1ym9BI4vsQsEZPOimlEDBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T04:18:14.951411Z","bundle_sha256":"b8a933a1fc3bf690541cbac8f0ff924a6fe0beec7f05a116db9a5fd6a37e3355"}}