Pith Number

pith:MC4YTRJ6

pith:2021:MC4YTRJ6OPEFV6FEPLZSJKQEG7

not attested not anchored not stored refs pending

Safe Online Gain Optimization for Variable Impedance Control

Changhao Wang, Masayoshi Tomizuka, Xiang Zhang, Zhian Kuang

arxiv:2111.01258 v1 · 2021-11-01 · 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{MC4YTRJ6OPEFV6FEPLZSJKQEG7}

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

Edu-MMBias: A Three-Tier Multimodal Benchmark for Auditing Social Bias in Vision-Language Models under Educational Contexts

Receipt and verification

First computed	2026-07-05T03:28:00.804749Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

60b989c53e73c85af8a47af324aa0437f3d3f3bf9e3d17db5a7a671eff2919a5

Aliases

arxiv: 2111.01258 · arxiv_version: 2111.01258v1 · doi: 10.48550/arxiv.2111.01258 · pith_short_12: MC4YTRJ6OPEF · pith_short_16: MC4YTRJ6OPEFV6FE · pith_short_8: MC4YTRJ6

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/MC4YTRJ6OPEFV6FEPLZSJKQEG7 \
  | 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: 60b989c53e73c85af8a47af324aa0437f3d3f3bf9e3d17db5a7a671eff2919a5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d0c48a791078594020243d1a7370b9852ffaebee5dd6b7f7ffbf0c74e787fc29",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-01T20:57:45Z",
    "title_canon_sha256": "56d60627f164280c84def62bc72534732ad6ec5cd68d2d65e13d63c72f83eb24"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.01258",
    "kind": "arxiv",
    "version": 1
  }
}