Pith Number

pith:IAU56IZB

pith:2020:IAU56IZB5WKJB6ZTXBJSH7KLLA

not attested not anchored not stored refs pending

Multi-mode Trajectory Optimization for Impact-aware Manipulation

Jo\~ao Moura, Lei Yan, Michael Gienger, Sethu Vijayakumar, Theodoros Stouraitis

arxiv:2006.13374 v2 · 2020-06-23 · 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{IAU56IZB5WKJB6ZTXBJSH7KLLA}

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	2026-07-05T01:32:45.698087Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4029df2321ed9490fb33b85323fd4b581923942b0ad1f49a704f79adc9956039

Aliases

arxiv: 2006.13374 · arxiv_version: 2006.13374v2 · doi: 10.48550/arxiv.2006.13374 · pith_short_12: IAU56IZB5WKJ · pith_short_16: IAU56IZB5WKJB6ZT · pith_short_8: IAU56IZB

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/IAU56IZB5WKJB6ZTXBJSH7KLLA \
  | 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: 4029df2321ed9490fb33b85323fd4b581923942b0ad1f49a704f79adc9956039

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e6700c525dfebaf35272dab77a457c0f6af466d2ad59017acc3633908b7cfd3d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-06-23T23:05:08Z",
    "title_canon_sha256": "58ee14d9199897a5067bae17d3e3ba9c381884fb967a120dbb1f6eda732eec63"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2006.13374",
    "kind": "arxiv",
    "version": 2
  }
}