Pith Number

pith:23FZKCQA

pith:2019:23FZKCQA4PZTEFGND6TDL2WE2H

not attested not anchored not stored refs pending

Nullspace Structure in Model Predictive Control

Hakan Girgin, Sylvain Calinon

arxiv:1905.09679 v1 · 2019-05-23 · 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{23FZKCQA4PZTEFGND6TDL2WE2H}

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	2026-05-17T23:45:16.308376Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d6cb950a00e3f33214cd1fa635eac4d1f4ad855f78f4ef4d0235b0f8a9287a91

Aliases

arxiv: 1905.09679 · arxiv_version: 1905.09679v1 · doi: 10.48550/arxiv.1905.09679 · pith_short_12: 23FZKCQA4PZT · pith_short_16: 23FZKCQA4PZTEFGN · pith_short_8: 23FZKCQA

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/23FZKCQA4PZTEFGND6TDL2WE2H \
  | 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: d6cb950a00e3f33214cd1fa635eac4d1f4ad855f78f4ef4d0235b0f8a9287a91

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "27e1c4e4fdc94200f5513fd609e60d132fb9f6a584e1b98594aaf730ce2465d8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-05-23T14:25:31Z",
    "title_canon_sha256": "eed69784732866c55fc79b8e17b367f70f80eb1f03244e0c8b0e170bdf6e3c91"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1905.09679",
    "kind": "arxiv",
    "version": 1
  }
}