Pith Number

pith:O4SVSUMG

pith:2020:O4SVSUMGGGUDA5BJU7HTPXPV3Q

not attested not anchored not stored refs pending

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Changliu Liu, Chengtao Wen, Suqin He, Weiye Zhao

arxiv:2008.03826 v1 · 2020-08-09 · 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{O4SVSUMGGGUDA5BJU7HTPXPV3Q}

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	2026-07-05T01:25:45.844026Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

772559518631a8307429a7cf37ddf5dc2fd94ad8b15e24c4cd391bd2a04015c3

Aliases

arxiv: 2008.03826 · arxiv_version: 2008.03826v1 · doi: 10.48550/arxiv.2008.03826 · pith_short_12: O4SVSUMGGGUD · pith_short_16: O4SVSUMGGGUDA5BJ · pith_short_8: O4SVSUMG

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/O4SVSUMGGGUDA5BJU7HTPXPV3Q \
  | 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: 772559518631a8307429a7cf37ddf5dc2fd94ad8b15e24c4cd391bd2a04015c3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "92ce2761d046e081d2592e1bb6a810381a116d5d1948f89951cc53a3787f7e17",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-08-09T22:13:42Z",
    "title_canon_sha256": "b53f1a9c220b5f34f48408626027494c7a4540bff1bb88af43da951dfdfa7519"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2008.03826",
    "kind": "arxiv",
    "version": 1
  }
}