Pith Number

pith:J3TKX73A

pith:2021:J3TKX73AMDS3WL5G4WOLCF4QG3

not attested not anchored not stored refs pending

A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots

Filip Mari\'c, Ivan Petrovi\'c, Jonathan Kelly, Luka Petrovi\'c, Marko Guberina

arxiv:2103.05362 v4 · 2021-03-09 · 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{J3TKX73AMDS3WL5G4WOLCF4QG3}

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	2026-07-05T04:39:46.512189Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4ee6abff6060e5bb2fa6e59cb1179036d7ca1048067988545e1cf68cc3d662d0

Aliases

arxiv: 2103.05362 · arxiv_version: 2103.05362v4 · doi: 10.48550/arxiv.2103.05362 · pith_short_12: J3TKX73AMDS3 · pith_short_16: J3TKX73AMDS3WL5G · pith_short_8: J3TKX73A

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/J3TKX73AMDS3WL5G4WOLCF4QG3 \
  | 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: 4ee6abff6060e5bb2fa6e59cb1179036d7ca1048067988545e1cf68cc3d662d0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8dc09ce1a45a1b82a53a5c6a37f75df45996393c4b98311da07b3c43809e79c4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-09T11:20:57Z",
    "title_canon_sha256": "086854780a148fb951cbc0946f0667b6e098a8ea1e7f370782bf04a3aa788310"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.05362",
    "kind": "arxiv",
    "version": 4
  }
}