Pith Number

pith:JQP3LPKM

pith:2020:JQP3LPKMGHNB5AQ3D4EH7UQR7D

not attested not anchored not stored refs pending

ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

Bernhard Thomaszewski, David Hahn, Jonas Zehnder, Moritz B\"acher, Moritz Geilinger, Stelian Coros

arxiv:2007.00987 v1 · 2020-07-02 · cs.GR · cs.LG · 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{JQP3LPKMGHNB5AQ3D4EH7UQR7D}

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

Enhancing Robotic System Robustness via Lyapunov Exponent-Based Optimization

Receipt and verification

First computed	2026-07-05T01:15:43.652843Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4c1fb5bd4c31da1e821b1f087fd211f8eba61a8f2f9ca08d74959c0b781e4b1a

Aliases

arxiv: 2007.00987 · arxiv_version: 2007.00987v1 · doi: 10.48550/arxiv.2007.00987 · pith_short_12: JQP3LPKMGHNB · pith_short_16: JQP3LPKMGHNB5AQ3 · pith_short_8: JQP3LPKM

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/JQP3LPKMGHNB5AQ3D4EH7UQR7D \
  | 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: 4c1fb5bd4c31da1e821b1f087fd211f8eba61a8f2f9ca08d74959c0b781e4b1a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5ee1bbd9f3e88d8e7c8c3d0bbad348e7ad7527e220522d8c404c25637e54fbce",
    "cross_cats_sorted": [
      "cs.LG",
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.GR",
    "submitted_at": "2020-07-02T09:51:36Z",
    "title_canon_sha256": "5afbd232a88ebea21ab8c89befb4ea33aa7ff069fe732474403837000e6174df"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2007.00987",
    "kind": "arxiv",
    "version": 1
  }
}