Pith Number

pith:5BRJKBOK

pith:2019:5BRJKBOKVDZTGURA6NNICGOBYL

not attested not anchored not stored refs pending

Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control

Brent Gillespie, C. David Remy, Daniel Bruder, Ram Vasudevan

arxiv:1902.02827 v2 · 2019-02-07 · 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{5BRJKBOKVDZTGURA6NNICGOBYL}

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

1 paper in Pith

Keep soft robots soft -- a data-driven based trade-off between feed-forward and feedback control

Receipt and verification

First computed	2026-05-17T23:41:53.482838Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e8629505caa8f3335220f35a8119c1c2f80bf9e97b2cdbfc1d19fc125187355a

Aliases

arxiv: 1902.02827 · arxiv_version: 1902.02827v2 · doi: 10.48550/arxiv.1902.02827 · pith_short_12: 5BRJKBOKVDZT · pith_short_16: 5BRJKBOKVDZTGURA · pith_short_8: 5BRJKBOK

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/5BRJKBOKVDZTGURA6NNICGOBYL \
  | 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: e8629505caa8f3335220f35a8119c1c2f80bf9e97b2cdbfc1d19fc125187355a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b2792802d44a56060e127ac9c1d4ef55ee0af996b7158b6133700f099d80a909",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-02-07T20:16:13Z",
    "title_canon_sha256": "76b6b7ed7a12b2075287fa75fc1e2b52602adb1ddf6afbb8713235f030636e92"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1902.02827",
    "kind": "arxiv",
    "version": 2
  }
}