Pith Number

pith:AMMORWHF

pith:2020:AMMORWHFGG5Z7SAAGNHNWECAOX

not attested not anchored not stored refs pending

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

Henrique Ferrolho, Ioannis Havoutis, Sethu Vijayakumar, Vladimir Ivan, Wolfgang Merkt

arxiv:2010.05359 v2 · 2020-10-11 · cs.RO · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{AMMORWHFGG5Z7SAAGNHNWECAOX}

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	2026-07-05T02:22:16.914393Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0318e8d8e531bb9fc800334edb104075eb8b190ab363e23f072783ec5e72167c

Aliases

arxiv: 2010.05359 · arxiv_version: 2010.05359v2 · doi: 10.48550/arxiv.2010.05359 · pith_short_12: AMMORWHFGG5Z · pith_short_16: AMMORWHFGG5Z7SAA · pith_short_8: AMMORWHF

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/AMMORWHFGG5Z7SAAGNHNWECAOX \
  | 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: 0318e8d8e531bb9fc800334edb104075eb8b190ab363e23f072783ec5e72167c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4a4828e79564e74442d772c5c125577337a4a89d8fce6fc69f009f7e0d357919",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-10-11T22:10:04Z",
    "title_canon_sha256": "1419ac091ee7ebbbb34bc99b2e893619455988a1f05e24919c271f495ff69779"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2010.05359",
    "kind": "arxiv",
    "version": 2
  }
}