Pith Number

pith:JE6WVF5B

pith:2021:JE6WVF5BDQBQCTDDITN64XD2B3

not attested not anchored not stored refs pending

Convex Iteration for Distance-Geometric Inverse Kinematics

David M. Rosen, Filip Mari\'c, Ivan Petrovi\'c, Jonathan Kelly, Matthew Giamou, Nicholas Roy, Valentin Peretroukhin

arxiv:2109.03374 v3 · 2021-09-08 · 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{JE6WVF5BDQBQCTDDITN64XD2B3}

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	2026-07-05T04:37:55.815945Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

493d6a97a11c03014c6344dbee5c7a0ee4bb2e34ff47b6cea984688272dcbd6b

Aliases

arxiv: 2109.03374 · arxiv_version: 2109.03374v3 · doi: 10.48550/arxiv.2109.03374 · pith_short_12: JE6WVF5BDQBQ · pith_short_16: JE6WVF5BDQBQCTDD · pith_short_8: JE6WVF5B

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/JE6WVF5BDQBQCTDDITN64XD2B3 \
  | 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: 493d6a97a11c03014c6344dbee5c7a0ee4bb2e34ff47b6cea984688272dcbd6b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7d9f70b1056bb398ce8e2b2a016db7e48b13756e965460c6ded3556dc3e6f60d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-08T00:15:01Z",
    "title_canon_sha256": "b38b814eb9d928d147c9866d760472ddb3c1f2861d2e145c7191f1dff84b56d8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.03374",
    "kind": "arxiv",
    "version": 3
  }
}