Pith Number

pith:G3LGGKWB

pith:2018:G3LGGKWBTDI7E7ZVCYNEQSZW5Q

not attested not anchored not stored refs pending

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints

Donghyun Kim, Hochul Hwang, Jaemin Lee, Luis Sentis, Orion Campbell

arxiv:1807.01222 v1 · 2018-07-03 · 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{G3LGGKWBTDI7E7ZVCYNEQSZW5Q}

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	2026-05-18T00:11:44.861425Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

36d6632ac198d1f27f35161a484b36ec3ccbb77363bfd6d675c3d30464122a49

Aliases

arxiv: 1807.01222 · arxiv_version: 1807.01222v1 · doi: 10.48550/arxiv.1807.01222 · pith_short_12: G3LGGKWBTDI7 · pith_short_16: G3LGGKWBTDI7E7ZV · pith_short_8: G3LGGKWB

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/G3LGGKWBTDI7E7ZVCYNEQSZW5Q \
  | 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: 36d6632ac198d1f27f35161a484b36ec3ccbb77363bfd6d675c3d30464122a49

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "206ef39d2279e05400e38d3b573b91e2ac39cfa615dd469c44d21f3cefc70538",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-07-03T14:56:45Z",
    "title_canon_sha256": "6c30d0001cd51a66b68b6be4b0ccf31df4c6fd379a5f1301d33197b100198876"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1807.01222",
    "kind": "arxiv",
    "version": 1
  }
}