Pith Number

pith:6YA35APE

pith:2021:6YA35APEQ7IVWOPPTSXP3KM2HY

not attested not anchored not stored refs pending

Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints

John Z. Zhang, Luke Drnach, Ye Zhao

arxiv:2105.09973 v2 · 2021-05-20 · 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{6YA35APEQ7IVWOPPTSXP3KM2HY}

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	2026-07-05T03:18:54.901043Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f601be81e487d15b39ef9caefda99a3e0e513a49f97ff0cc68bee5414af16441

Aliases

arxiv: 2105.09973 · arxiv_version: 2105.09973v2 · doi: 10.48550/arxiv.2105.09973 · pith_short_12: 6YA35APEQ7IV · pith_short_16: 6YA35APEQ7IVWOPP · pith_short_8: 6YA35APE

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/6YA35APEQ7IVWOPPTSXP3KM2HY \
  | 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: f601be81e487d15b39ef9caefda99a3e0e513a49f97ff0cc68bee5414af16441

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ce12bc0ae93e7dc2f278801306aa019a078fe39741f503aa7ba5d5da94a7e2ab",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-05-20T18:08:42Z",
    "title_canon_sha256": "37fd62ea5ae725a054f665c6f8db9ac4bb59811a9c271fad3618882450d83a9c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2105.09973",
    "kind": "arxiv",
    "version": 2
  }
}