Pith Number

pith:CNIJZBXQ

pith:2015:CNIJZBXQFMGL55CNR5R5ESTGKO

not attested not anchored not stored refs pending

Model-free control framework for multi-limb soft robots

Barry Trimmer, Piyush Grover, Vishesh Vikas

arxiv:1509.05937 v1 · 2015-09-19 · 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{CNIJZBXQFMGL55CNR5R5ESTGKO}

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	2026-05-18T01:21:19.400675Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

13509c86f02b0cbef44d8f63d24a665393e01763cb25bf992d2d22cf949da1ca

Aliases

arxiv: 1509.05937 · arxiv_version: 1509.05937v1 · doi: 10.48550/arxiv.1509.05937 · pith_short_12: CNIJZBXQFMGL · pith_short_16: CNIJZBXQFMGL55CN · pith_short_8: CNIJZBXQ

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/CNIJZBXQFMGL55CNR5R5ESTGKO \
  | 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: 13509c86f02b0cbef44d8f63d24a665393e01763cb25bf992d2d22cf949da1ca

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "339d1fd0a8e90e6e44cd9dafcab2e2e2c6c09e4e7905fe8de3bf348db14a8e0e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-09-19T21:06:45Z",
    "title_canon_sha256": "18533c1710fd05a011b99049f1cfce918515dfc2c1907ddb7eac63c7d6308294"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1509.05937",
    "kind": "arxiv",
    "version": 1
  }
}