Pith Number

pith:JQX4AOZN

pith:2025:JQX4AOZNIU3AHNQS4THDWP3M5K

not attested not anchored not stored refs pending

Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control

Haonan He, Junyi Geng, Yuheng Qiu

arxiv:2504.13088 v2 · 2025-04-17 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{JQX4AOZNIU3AHNQS4THDWP3M5K}

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	2026-07-05T10:55:34.398654Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4c2fc03b2d453603b612e4ce3b3f6cea8206c02259288ce12fceb28581eba3af

Aliases

arxiv: 2504.13088 · arxiv_version: 2504.13088v2 · doi: 10.48550/arxiv.2504.13088 · pith_short_12: JQX4AOZNIU3A · pith_short_16: JQX4AOZNIU3AHNQS · pith_short_8: JQX4AOZN

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/JQX4AOZNIU3AHNQS4THDWP3M5K \
  | 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: 4c2fc03b2d453603b612e4ce3b3f6cea8206c02259288ce12fceb28581eba3af

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bd8097622e6fb4dbd27df8c90eda0802a5f8be28f40bb1a7aa4f259d7c70b00e",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-17T16:55:34Z",
    "title_canon_sha256": "da3cd7f26a8463115358dddbaf04e3a80792e8372f9c7121aefc5494a66528b5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.13088",
    "kind": "arxiv",
    "version": 2
  }
}