Pith Number

pith:GOL6UOTW

pith:2018:GOL6UOTW5QYS4MJRZYAJWB6ORF

not attested not anchored not stored refs pending

A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation

Aykut Ozgun Onol, Philip Long, Taskin Padir

arxiv:1806.01425 v2 · 2018-06-04 · 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{GOL6UOTW5QYS4MJRZYAJWB6ORF}

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	2026-05-17T23:55:07.671044Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3397ea3a76ec312e3131ce009b07ce8959ad504303211df8100f8922fed15d0e

Aliases

arxiv: 1806.01425 · arxiv_version: 1806.01425v2 · doi: 10.48550/arxiv.1806.01425 · pith_short_12: GOL6UOTW5QYS · pith_short_16: GOL6UOTW5QYS4MJR · pith_short_8: GOL6UOTW

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/GOL6UOTW5QYS4MJRZYAJWB6ORF \
  | 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: 3397ea3a76ec312e3131ce009b07ce8959ad504303211df8100f8922fed15d0e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "415371529a50b226c7fff5bb2064b1ac54a783de3b9642e4249fd1d69b975ce9",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-06-04T23:10:37Z",
    "title_canon_sha256": "9b9199e4f9066931bc37400c474da8871ae7a5c089b2d0262a75d81ac515f375"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1806.01425",
    "kind": "arxiv",
    "version": 2
  }
}