Pith Number

pith:J2Z34GHT

pith:2022:J2Z34GHT2L7VL6SQYCQ3WUYPYG

not attested not anchored not stored refs pending

Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions

Armin Lederer, Azra Begzadi\'c, Neha Das, Sandra Hirche

arxiv:2212.00478 v2 · 2022-12-01 · eess.SY · cs.RO · cs.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{J2Z34GHT2L7VL6SQYCQ3WUYPYG}

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	2026-07-05T06:00:58.226877Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4eb3be18f3d2ff55fa50c0a1bb530fc1a42e91e88ca0c65ed8237cb79ec8f042

Aliases

arxiv: 2212.00478 · arxiv_version: 2212.00478v2 · doi: 10.48550/arxiv.2212.00478 · pith_short_12: J2Z34GHT2L7V · pith_short_16: J2Z34GHT2L7VL6SQ · pith_short_8: J2Z34GHT

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/J2Z34GHT2L7VL6SQYCQ3WUYPYG \
  | 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: 4eb3be18f3d2ff55fa50c0a1bb530fc1a42e91e88ca0c65ed8237cb79ec8f042

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fa907f15ef8ab1d9a2ff30895ebce5987f1761ac92fb04274bef5cee7647081a",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2022-12-01T13:04:30Z",
    "title_canon_sha256": "aed5ee89a4f8bc0f4a3f4cea30b8706785d293b84f975331fbb9fa4d389b184b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.00478",
    "kind": "arxiv",
    "version": 2
  }
}