Pith Number

pith:3GPKRFNT

pith:2021:3GPKRFNT6RK3IZMIPQI5OZ2SDU

not attested not anchored not stored refs pending

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning

Aleksei Petrenko, Artem Molchanov, Gaurav S. Sukhatme, Sumeet Batra, Tushar Kumar, Zhehui Huang

arxiv:2109.07735 v2 · 2021-09-16 · 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{3GPKRFNT6RK3IZMIPQI5OZ2SDU}

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	2026-07-05T03:33:49.835922Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d99ea895b3f455b465887c11d767521d227bce2fa09f72e16d2b70e4fcca14d5

Aliases

arxiv: 2109.07735 · arxiv_version: 2109.07735v2 · doi: 10.48550/arxiv.2109.07735 · pith_short_12: 3GPKRFNT6RK3 · pith_short_16: 3GPKRFNT6RK3IZMI · pith_short_8: 3GPKRFNT

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/3GPKRFNT6RK3IZMIPQI5OZ2SDU \
  | 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: d99ea895b3f455b465887c11d767521d227bce2fa09f72e16d2b70e4fcca14d5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cbe7162d2d76bf76eb6d182f0f01af04ecd078c2229b920fb0499d71334bd92e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-16T05:59:01Z",
    "title_canon_sha256": "f50685099a68d875231c6a1659fe8008bef9f799bdfd10ca9893aa937818fbbb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.07735",
    "kind": "arxiv",
    "version": 2
  }
}