Pith Number

pith:NIASPCBG

pith:2020:NIASPCBGSB5HYBWEJMSKN3W632

not attested not anchored not stored refs pending

Tuning-Free Contact-Implicit Trajectory Optimization

Aykut Ozgun Onol, Philip Long, Radu Corcodel, Taskin Padir

arxiv:2006.06176 v1 · 2020-06-11 · 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{NIASPCBGSB5HYBWEJMSKN3W632}

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	2026-07-05T01:09:21.646337Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6a01278826907a7c06c44b24a6eedede8b2798ace8e3bd01296afee8eddfbca1

Aliases

arxiv: 2006.06176 · arxiv_version: 2006.06176v1 · doi: 10.48550/arxiv.2006.06176 · pith_short_12: NIASPCBGSB5H · pith_short_16: NIASPCBGSB5HYBWE · pith_short_8: NIASPCBG

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/NIASPCBGSB5HYBWEJMSKN3W632 \
  | 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: 6a01278826907a7c06c44b24a6eedede8b2798ace8e3bd01296afee8eddfbca1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c90db7a1620878b5ab0f6a698bde563872b80f58a070357a70b3767ed235de79",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-06-11T04:00:43Z",
    "title_canon_sha256": "494159e3de8a638aa404228d158da60c644d5ca499568c627b1eb0c2a04c2797"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2006.06176",
    "kind": "arxiv",
    "version": 1
  }
}