Pith Number

pith:7GKRUNTR

pith:2023:7GKRUNTRAAE4D2JGGHXNHVKYRC

not attested not anchored not stored refs pending

Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes

Moritz Schappler, Sarah Kleinjohann, Tim-Lukas Habich

arxiv:2303.01840 v2 · 2023-03-03 · eess.SY · cs.RO · 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{7GKRUNTRAAE4D2JGGHXNHVKYRC}

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	2026-07-05T08:08:37.844849Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f9951a36710009c1e92631eed3d558889b1d7d5a53d1c5ff9e7d31852bca68f1

Aliases

arxiv: 2303.01840 · arxiv_version: 2303.01840v2 · doi: 10.48550/arxiv.2303.01840 · pith_short_12: 7GKRUNTRAAE4 · pith_short_16: 7GKRUNTRAAE4D2JG · pith_short_8: 7GKRUNTR

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/7GKRUNTRAAE4D2JGGHXNHVKYRC \
  | 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: f9951a36710009c1e92631eed3d558889b1d7d5a53d1c5ff9e7d31852bca68f1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d2f7dbbe087e1d4c335fcc8b717262c6d33b8f93fc1f618180289e28dded6691",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2023-03-03T10:46:30Z",
    "title_canon_sha256": "c40c1898a28e789327d7d7d84d3ce6e5a6829d86f387a343605cbf8e34ab289f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.01840",
    "kind": "arxiv",
    "version": 2
  }
}