Pith Number

pith:7UOZLKBF

pith:2021:7UOZLKBF3CC6Z64I2NVF76JKKD

not attested not anchored not stored refs pending

A Robust Tube-Based Smooth-MPC for Robot Manipulator Planning

Fuchun Sun, Huaping Liu, Mingxuan Jing, Tianying Ji, Yu Luo

arxiv:2103.09693 v1 · 2021-03-17 · cs.RO · cs.SY · eess.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{7UOZLKBF3CC6Z64I2NVF76JKKD}

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	2026-07-05T02:24:06.471694Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fd1d95a825d885ecfb88d36a5ff92a50e6cc33a0aea07e6454ea2e37050f62ba

Aliases

arxiv: 2103.09693 · arxiv_version: 2103.09693v1 · doi: 10.48550/arxiv.2103.09693 · pith_short_12: 7UOZLKBF3CC6 · pith_short_16: 7UOZLKBF3CC6Z64I · pith_short_8: 7UOZLKBF

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/7UOZLKBF3CC6Z64I2NVF76JKKD \
  | 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: fd1d95a825d885ecfb88d36a5ff92a50e6cc33a0aea07e6454ea2e37050f62ba

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c5a94deb6ecceb4b0e631500cef9a8696053d37c986f3a160117a40f0e3bd8d",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-17T14:44:16Z",
    "title_canon_sha256": "1bfecc3212bf941f548a6cc81b3a5f36b61963ba01a493bf791ecad0dc7b3290"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.09693",
    "kind": "arxiv",
    "version": 1
  }
}