Pith Number

pith:NQOTFYRR

pith:2022:NQOTFYRR2SBPWNPSFJDJBTE3XI

not attested not anchored not stored refs pending

Model Predictive Control for Flexible Joint Robots

Alexander Dietrich, Alin Albu-Schaffer, Christiaan van Ommeren, Maged Iskandar, Xuwei Wu

arxiv:2210.08084 v1 · 2022-10-14 · 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{NQOTFYRR2SBPWNPSFJDJBTE3XI}

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	2026-07-05T11:09:56.452628Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6c1d32e231d482fb35f22a4690cc9bba3fb7aac4de1a7a3d000e2e46592c1327

Aliases

arxiv: 2210.08084 · arxiv_version: 2210.08084v1 · doi: 10.48550/arxiv.2210.08084 · pith_short_12: NQOTFYRR2SBP · pith_short_16: NQOTFYRR2SBPWNPS · pith_short_8: NQOTFYRR

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/NQOTFYRR2SBPWNPSFJDJBTE3XI \
  | 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: 6c1d32e231d482fb35f22a4690cc9bba3fb7aac4de1a7a3d000e2e46592c1327

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a8b8f2b71b0bdf78c0ed18f96f3701c190f31480ec1bab44bf5057d27ed76bf0",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-14T20:15:23Z",
    "title_canon_sha256": "e0f205825737bcd19bab67905bf50ac3188aad7523c1061be21c6fc0052756c6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.08084",
    "kind": "arxiv",
    "version": 1
  }
}