Pith Number

pith:OPDNB2QG

pith:2020:OPDNB2QG3CGKWT7VGUZLZCLZ7F

not attested not anchored not stored refs pending

Joint Space Control via Deep Reinforcement Learning

Balakumar Sundaralingam, David Hoeller, Jonathan Tremblay, Stan Birchfield, Visak Kumar

arxiv:2011.06332 v2 · 2020-11-12 · 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{OPDNB2QG3CGKWT7VGUZLZCLZ7F}

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	2026-07-05T03:07:26.327649Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

73c6d0ea06d88cab4ff53532bc8979f95973510510db9c5f18b6dcaae3980efd

Aliases

arxiv: 2011.06332 · arxiv_version: 2011.06332v2 · doi: 10.48550/arxiv.2011.06332 · pith_short_12: OPDNB2QG3CGK · pith_short_16: OPDNB2QG3CGKWT7V · pith_short_8: OPDNB2QG

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/OPDNB2QG3CGKWT7VGUZLZCLZ7F \
  | 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: 73c6d0ea06d88cab4ff53532bc8979f95973510510db9c5f18b6dcaae3980efd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f7d755157f2ba15c9edf1e70945c66c9b3de921098ab66ef78b2a189a50207ec",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-11-12T12:07:00Z",
    "title_canon_sha256": "dbbe600123d07b07b7df684ba3107e367cad49e743a77ffdba2cf8e01941751b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2011.06332",
    "kind": "arxiv",
    "version": 2
  }
}