Pith Number

pith:3KCA3QOG

pith:2023:3KCA3QOGYREEIN5ISCV4CP372G

not attested not anchored not stored refs pending

Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions

Daniela Rus, Emily Sologuren, Wei Xiao, Zach J. Patterson

arxiv:2311.03189 v2 · 2023-11-06 · 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{3KCA3QOGYREEIN5ISCV4CP372G}

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	2026-07-05T08:01:16.656657Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

da840dc1c6c4484437a890abc13f7fd1885c7765ac584e9b88bb8f1fe7c53eed

Aliases

arxiv: 2311.03189 · arxiv_version: 2311.03189v2 · doi: 10.48550/arxiv.2311.03189 · pith_short_12: 3KCA3QOGYREE · pith_short_16: 3KCA3QOGYREEIN5I · pith_short_8: 3KCA3QOG

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/3KCA3QOGYREEIN5ISCV4CP372G \
  | 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: da840dc1c6c4484437a890abc13f7fd1885c7765ac584e9b88bb8f1fe7c53eed

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b94622822165d180b181952422e7c9ef41b77fd478009e4aebdaa2aba0c2d5e8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-11-06T15:28:24Z",
    "title_canon_sha256": "578ff2be4a0d2c1354c183d88718098ce057184caaf20fc28ae1756598477138"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2311.03189",
    "kind": "arxiv",
    "version": 2
  }
}