Pith Number

pith:5Q57IBCX

pith:2017:5Q57IBCXFCQYZ2ITDRMHGCZCLQ

not attested not anchored not stored refs pending

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

Claudio Semini, Jonas Buchli, Marco Frigerio, Markus Giftthaler, Markus St\"auble, Michael Neunert

arxiv:1709.03799 v2 · 2017-09-12 · 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{5Q57IBCXFCQYZ2ITDRMHGCZCLQ}

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	2026-05-18T00:25:55.050814Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ec3bf4045728a18ce9131c58730b225c1d89bb0cc159f8e9e02a3277e953505a

Aliases

arxiv: 1709.03799 · arxiv_version: 1709.03799v2 · doi: 10.48550/arxiv.1709.03799 · pith_short_12: 5Q57IBCXFCQY · pith_short_16: 5Q57IBCXFCQYZ2IT · pith_short_8: 5Q57IBCX

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/5Q57IBCXFCQYZ2ITDRMHGCZCLQ \
  | 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: ec3bf4045728a18ce9131c58730b225c1d89bb0cc159f8e9e02a3277e953505a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6dda42b7be6b4807d2036728b6c20a2aa09809122eea9edb554c8bdbccb881ff",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-12T12:19:50Z",
    "title_canon_sha256": "0029ef4b5b96779e05fa4a0eeab3fcc19a3ce65b3c9c6ca4bf7da0d9e87e76e4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.03799",
    "kind": "arxiv",
    "version": 2
  }
}