Pith Number

pith:3OXQDDGS

pith:2020:3OXQDDGSBDMFXV6LCZITK2NCAY

not attested not anchored not stored refs pending

L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors

Chengyu Cao, Evangelos A. Theodorou, Jintasit Pravitra, Kasey A. Ackerman, Naira Hovakimyan

arxiv:2004.00152 v1 · 2020-03-31 · eess.SY · cs.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{3OXQDDGSBDMFXV6LCZITK2NCAY}

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	2026-07-05T00:51:56.933634Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

dbaf018cd208d85bd7cb16513569a20608e4aa47770f0d7e327d4b4ca5e41cdf

Aliases

arxiv: 2004.00152 · arxiv_version: 2004.00152v1 · doi: 10.48550/arxiv.2004.00152 · pith_short_12: 3OXQDDGSBDMF · pith_short_16: 3OXQDDGSBDMFXV6L · pith_short_8: 3OXQDDGS

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/3OXQDDGSBDMFXV6LCZITK2NCAY \
  | 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: dbaf018cd208d85bd7cb16513569a20608e4aa47770f0d7e327d4b4ca5e41cdf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bd100b7a35ea72b714e02702c50fb7208af440b2795a16fa8af21ce9e24efd64",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2020-03-31T22:53:15Z",
    "title_canon_sha256": "47cccf937565a40e2c17cad625f09920346c8d70b1a0be28ec80bfa9a27e8f24"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.00152",
    "kind": "arxiv",
    "version": 1
  }
}