Pith Number

pith:DHD4TTKV

pith:2025:DHD4TTKVYAHZLTGOX4S6J74USI

not attested not anchored not stored refs pending

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups

Maani Ghaffari, Ram Vasudevan, Sangli Teng, Tzu-Yuan Lin, William A Clark

arxiv:2505.02323 v1 · 2025-05-05 · 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{DHD4TTKVYAHZLTGOX4S6J74USI}

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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.

Cited by

1 paper in Pith

Embedding Hybrid Systems into Continuous Latent Vector Fields

Receipt and verification

First computed	2026-07-05T10:58:35.439770Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

19c7c9cd55c00f95cccebf25e4ff949237f9b528c164c1f5587676bb199e3981

Aliases

arxiv: 2505.02323 · arxiv_version: 2505.02323v1 · doi: 10.48550/arxiv.2505.02323 · pith_short_12: DHD4TTKVYAHZ · pith_short_16: DHD4TTKVYAHZLTGO · pith_short_8: DHD4TTKV

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/DHD4TTKVYAHZLTGOX4S6J74USI \
  | 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: 19c7c9cd55c00f95cccebf25e4ff949237f9b528c164c1f5587676bb199e3981

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3508565fc2c89aa8896b5f71ae1a5ff884c7025a1d2bcedac75475d33e6e774f",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-05T02:39:55Z",
    "title_canon_sha256": "4a5c395c0ca70a2efd8b23077f82885a7b71bf3018c539eaf95bc5d7bfa1f01c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.02323",
    "kind": "arxiv",
    "version": 1
  }
}