Pith Number

pith:57R4323X

pith:2023:57R4323XNTGV6TJTY27WWUNEVC

not attested not anchored not stored refs pending

Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

Alejandro Castro, Aykut \"Ozg\"un \"Onol, Hai Lin, Vince Kurtz

arxiv:2309.01813 v3 · 2023-09-04 · 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{57R4323XNTGV6TJTY27WWUNEVC}

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.

Cited by

2 papers in Pith

Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity

MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation

Receipt and verification

First computed	2026-07-05T10:58:13.046299Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339

Aliases

arxiv: 2309.01813 · arxiv_version: 2309.01813v3 · doi: 10.48550/arxiv.2309.01813 · pith_short_12: 57R4323XNTGV · pith_short_16: 57R4323XNTGV6TJT · pith_short_8: 57R4323X

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/57R4323XNTGV6TJTY27WWUNEVC \
  | 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: efe3cdeb776ccd5f4d33c6bf6b51a4a8979a1ba7e8878f3e7f1e2fd4d0b0d339

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "86f556f01e765022c1de0f361d0e3d8951ceeed53c715070b89114a675eade44",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-04T21:05:59Z",
    "title_canon_sha256": "c1c497571f5fbeb80b3300a43160e2e9e5d308703ded0e3c55e2b7ca944087b9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.01813",
    "kind": "arxiv",
    "version": 3
  }
}