Pith Number

pith:N6HPQRDQ

pith:2021:N6HPQRDQ4KSH3T56IDGCQJTZ34

not attested not anchored not stored refs pending

Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks

Liting Sun, Masayoshi Tomizuka, Xiang Zhang, Zhian Kuang

arxiv:2102.06838 v1 · 2021-02-13 · 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{N6HPQRDQ4KSH3T56IDGCQJTZ34}

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	2026-07-05T02:14:58.846145Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6f8ef84470e2a47dcfbe40cc282679df32a63ca29a593610c0290f11276f8e1d

Aliases

arxiv: 2102.06838 · arxiv_version: 2102.06838v1 · doi: 10.48550/arxiv.2102.06838 · pith_short_12: N6HPQRDQ4KSH · pith_short_16: N6HPQRDQ4KSH3T56 · pith_short_8: N6HPQRDQ

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/N6HPQRDQ4KSH3T56IDGCQJTZ34 \
  | 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: 6f8ef84470e2a47dcfbe40cc282679df32a63ca29a593610c0290f11276f8e1d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "94fffa8f7709e7d36da05b43e6125a38d6b8b70c1bdac5cc27f07c2ac8263ee2",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-13T01:07:26Z",
    "title_canon_sha256": "995bfdab940a286839f10f563e81b169d1f3ada2c297cbe77bc8ccadadaff08d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.06838",
    "kind": "arxiv",
    "version": 1
  }
}