Pith Number

pith:J4HSPDVR

pith:2020:J4HSPDVR3FJEVH2UO2NU2JTHJK

not attested not anchored not stored refs pending

Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics

Frank L. Hammond III, Lasitha Wijayarathne, Qie Sima, Ye Zhao, Ziyi Zhou

arxiv:2004.09734 v2 · 2020-04-21 · 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{J4HSPDVR3FJEVH2UO2NU2JTHJK}

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	2026-07-05T01:24:51.521347Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4f0f278eb1d9524a9f54769b4d26674abd0a985d3bcc8553ddca218e697b40fe

Aliases

arxiv: 2004.09734 · arxiv_version: 2004.09734v2 · doi: 10.48550/arxiv.2004.09734 · pith_short_12: J4HSPDVR3FJE · pith_short_16: J4HSPDVR3FJEVH2U · pith_short_8: J4HSPDVR

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/J4HSPDVR3FJEVH2UO2NU2JTHJK \
  | 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: 4f0f278eb1d9524a9f54769b4d26674abd0a985d3bcc8553ddca218e697b40fe

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9b1d96e513a90a72445207e52126dcfbdc729a6f1e40a047694aa36bb2af1093",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-04-21T03:17:37Z",
    "title_canon_sha256": "3166775c2a1125ade1f9fad3d5a8df752ec6349ed4a9aadd910e798bcdd4d63d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.09734",
    "kind": "arxiv",
    "version": 2
  }
}