Pith Number

pith:2CASWATE

pith:2021:2CASWATECJ7FOCCAT242QUKDOY

not attested not anchored not stored refs pending

Trajectory Optimization with Optimization-Based Dynamics

Pete Florence, Simon Le Cleac'h, Sumeet Singh, Taylor A. Howell, Vikas Sindhwani, Zachary Manchester

arxiv:2109.04928 v4 · 2021-09-10 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2CASWATECJ7FOCCAT242QUKDOY}

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	2026-07-05T05:32:20.314766Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d0812b0264127e5708409eb9a851437625a0846533ce1a18923ec4f06e410254

Aliases

arxiv: 2109.04928 · arxiv_version: 2109.04928v4 · doi: 10.48550/arxiv.2109.04928 · pith_short_12: 2CASWATECJ7F · pith_short_16: 2CASWATECJ7FOCCA · pith_short_8: 2CASWATE

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/2CASWATECJ7FOCCAT242QUKDOY \
  | 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: d0812b0264127e5708409eb9a851437625a0846533ce1a18923ec4f06e410254

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "33827b5e219a4df0b4327212cd544b0270d9434f94fb71648cbafcbfef18dd53",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-10T15:18:09Z",
    "title_canon_sha256": "8ef2b3241fbaf02852814c70d21eab7e5261a3f861ab65fd8eac6893605f45e5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04928",
    "kind": "arxiv",
    "version": 4
  }
}