Pith Number

pith:JC4ZFAGQ

pith:2025:JC4ZFAGQZQVLQKF2EJIOP4FJYQ

not attested not anchored not stored refs pending

On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning

Haoyu Han, Heng Yang, Jun Ma, Shucheng Kang, Yulin Li

arxiv:2502.01055 v3 · 2025-02-03 · math.OC · cs.RO

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{JC4ZFAGQZQVLQKF2EJIOP4FJYQ}

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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.

Cited by

2 papers in Pith

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization

Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems

Receipt and verification

First computed	2026-07-05T10:54:14.865778Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

48b99280d0cc2ab828ba2250e7f0a9c43de6cf127cb560b33517a256a6fb6c52

Aliases

arxiv: 2502.01055 · arxiv_version: 2502.01055v3 · doi: 10.48550/arxiv.2502.01055 · pith_short_12: JC4ZFAGQZQVL · pith_short_16: JC4ZFAGQZQVLQKF2 · pith_short_8: JC4ZFAGQ

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/JC4ZFAGQZQVLQKF2EJIOP4FJYQ \
  | 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: 48b99280d0cc2ab828ba2250e7f0a9c43de6cf127cb560b33517a256a6fb6c52

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "631a543af0250f1bb21b3da14ecb24ea3c6206732f68a2310589db1e35f9cb39",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2025-02-03T05:01:39Z",
    "title_canon_sha256": "816ab1c247ae3fd6f9a1fbb68ca935e38f8378f26f93c950b1ac49fd573731f8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2502.01055",
    "kind": "arxiv",
    "version": 3
  }
}