Pith Number

pith:KELTG54R

pith:2021:KELTG54RJ77SLFHCAPF3HF4YSM

not attested not anchored not stored refs pending

Fast Contact-Implicit Model-Predictive Control

Arun Bishop, Chi-Yen Lee, John Zhang, Mac Schwager, Shuo Yang, Simon Le Cleac'h, Taylor Howell, Zachary Manchester

arxiv:2107.05616 v3 · 2021-07-12 · 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{KELTG54RJ77SLFHCAPF3HF4YSM}

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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

1 paper in Pith

Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity

Receipt and verification

First computed	2026-07-05T05:30:59.795518Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

51173377914fff2594e203cbb3979893031f0c9466a2941f3bb07115613cecbd

Aliases

arxiv: 2107.05616 · arxiv_version: 2107.05616v3 · doi: 10.48550/arxiv.2107.05616 · pith_short_12: KELTG54RJ77S · pith_short_16: KELTG54RJ77SLFHC · pith_short_8: KELTG54R

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/KELTG54RJ77SLFHCAPF3HF4YSM \
  | 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: 51173377914fff2594e203cbb3979893031f0c9466a2941f3bb07115613cecbd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b5cac6b7d0fea3e98751716ae870a2a8678cbbf61468704107df64eedc467019",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-12T17:52:40Z",
    "title_canon_sha256": "253ff1b86f8b528d767138be0bee425351fbd58ac0b4428b046b82c80203abec"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.05616",
    "kind": "arxiv",
    "version": 3
  }
}