Pith Number

pith:NKF3IWFF

pith:2022:NKF3IWFFA337R3OIJVTI7N2VZN

not attested not anchored not stored refs pending

Single-Level Differentiable Contact Simulation

Mac Schwager, Pete Florence, Simon Le Cleac'h, Sumeet Singh, Vikas Sindhwani, Zachary Manchester

arxiv:2212.06764 v2 · 2022-12-13 · 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{NKF3IWFFA337R3OIJVTI7N2VZN}

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	2026-07-05T05:29:55.356719Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6a8bb458a506f7f8edc84d668fb755cb666cd434cc039abf71b3a659af65ed9d

Aliases

arxiv: 2212.06764 · arxiv_version: 2212.06764v2 · doi: 10.48550/arxiv.2212.06764 · pith_short_12: NKF3IWFFA337 · pith_short_16: NKF3IWFFA337R3OI · pith_short_8: NKF3IWFF

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/NKF3IWFFA337R3OIJVTI7N2VZN \
  | 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: 6a8bb458a506f7f8edc84d668fb755cb666cd434cc039abf71b3a659af65ed9d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e3fc38f1f1b1140ad54f8bf323024a370fd7f1897563ef168a4c344addff7fab",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-13T17:46:06Z",
    "title_canon_sha256": "6fc41954e58b95ddc987f2c0997d078791dc2d42d62459cf31d814cfe7b42ee8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.06764",
    "kind": "arxiv",
    "version": 2
  }
}