Pith Number

pith:JLSZ7ZEU

pith:2019:JLSZ7ZEUBVWQ6PH3T5WXEYMOG3

not attested not anchored not stored refs pending

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

Bilal Hammoud, Carlos Mastalli, Guilhem Saurel, Justin Carpentier, Ludovic Righetti, Maximilien Naveau, Nicolas Mansard, Rohan Budhiraja, Sethu Vijayakumar, Wolfgang Merkt

arxiv:1909.04947 v2 · 2019-09-11 · cs.RO · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{JLSZ7ZEUBVWQ6PH3T5WXEYMOG3}

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.

Cited by

1 paper in Pith

Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring

Receipt and verification

First computed	2026-07-05T00:47:17.519198Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4ae59fe4940d6d0f3cfb9f6d72618e36f41ce1b9b184474b44053e1a79c0086f

Aliases

arxiv: 1909.04947 · arxiv_version: 1909.04947v2 · doi: 10.48550/arxiv.1909.04947 · pith_short_12: JLSZ7ZEUBVWQ · pith_short_16: JLSZ7ZEUBVWQ6PH3 · pith_short_8: JLSZ7ZEU

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/JLSZ7ZEUBVWQ6PH3T5WXEYMOG3 \
  | 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: 4ae59fe4940d6d0f3cfb9f6d72618e36f41ce1b9b184474b44053e1a79c0086f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "972c7793f64e199b3cad0aa3343d67b3ff133ad01fecc2e7c85e0e6aa26fae49",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-11T09:49:02Z",
    "title_canon_sha256": "7f8e09889c7a572f563778bc91c0a67433cb4e1e93689bdf500560f9c3efe667"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.04947",
    "kind": "arxiv",
    "version": 2
  }
}