Pith Number

pith:DVUG6PAH

pith:2026:DVUG6PAHHO2MQFZJNDQUY6363L

not attested not anchored not stored refs pending

LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies

Koushil Sreenath, Maani Ghaffari, Mark Mueller, Ram Vasudevan, Ruiqi Zhang, Sangli Teng, Tzu-Yuan Lin, William A Clark

arxiv:2606.10579 v1 · 2026-06-09 · 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{DVUG6PAHHO2MQFZJNDQUY6363L}

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	2026-06-10T01:10:27.801993Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1d686f3c073bb4c8172968e14c7b7edacf2fa534ac405910be0a02ea3eae6f57

Aliases

arxiv: 2606.10579 · arxiv_version: 2606.10579v1 · doi: 10.48550/arxiv.2606.10579 · pith_short_12: DVUG6PAHHO2M · pith_short_16: DVUG6PAHHO2MQFZJ · pith_short_8: DVUG6PAH

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/DVUG6PAHHO2MQFZJNDQUY6363L \
  | 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: 1d686f3c073bb4c8172968e14c7b7edacf2fa534ac405910be0a02ea3eae6f57

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "47534d10577495b36b6a2ef887c5c2cf154bf496d6253bc0199b06608fdd0140",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-09T08:45:08Z",
    "title_canon_sha256": "051c841ffb71bed0eef3034ba2da8f4c891d24d5b933c9a5888a03a694bfb9ca"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.10579",
    "kind": "arxiv",
    "version": 1
  }
}