Pith Number

pith:KLZE4GWW

pith:2023:KLZE4GWWJ7B7WHJDBIODFAXEEC

not attested not anchored not stored refs pending

Robust Collision Detection for Robots with Variable Stiffness Actuation by Using MAD-CNN: Modularized-Attention-Dilated Convolutional Neural Network

Irfan Hussain, Lyes Saad Saoud, Zhenwei Niu

arxiv:2310.02573 v3 · 2023-10-04 · cs.RO · cs.HC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KLZE4GWWJ7B7WHJDBIODFAXEEC}

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	2026-07-05T07:39:30.749007Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

52f24e1ad64fc3fb1d230a1c3282e420870093e20d0c34b593fdfdbdbb6bd34d

Aliases

arxiv: 2310.02573 · arxiv_version: 2310.02573v3 · doi: 10.48550/arxiv.2310.02573 · pith_short_12: KLZE4GWWJ7B7 · pith_short_16: KLZE4GWWJ7B7WHJD · pith_short_8: KLZE4GWW

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/KLZE4GWWJ7B7WHJDBIODFAXEEC \
  | 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: 52f24e1ad64fc3fb1d230a1c3282e420870093e20d0c34b593fdfdbdbb6bd34d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bf76ed76c05bc452397f3448c88fa4bddcdc9e3a02fe299276d98a9a330a4553",
    "cross_cats_sorted": [
      "cs.HC"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-10-04T04:18:23Z",
    "title_canon_sha256": "c38da89c611aba55cc873013ae2f6c7e9c6a0a99b864cc79218e207f83768f0d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2310.02573",
    "kind": "arxiv",
    "version": 3
  }
}