Pith Number

pith:PLDANIGS

pith:2017:PLDANIGSPNGEJSOECIAP6ISADW

not attested not anchored not stored refs pending

A geometric approach for learning compliant motions from demonstration

Markku Suomalainen, Ville Kyrki

arxiv:1709.02589 v2 · 2017-09-08 · 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{PLDANIGSPNGEJSOECIAP6ISADW}

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	2026-05-18T00:06:48.431740Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a

Aliases

arxiv: 1709.02589 · arxiv_version: 1709.02589v2 · doi: 10.48550/arxiv.1709.02589 · pith_short_12: PLDANIGSPNGE · pith_short_16: PLDANIGSPNGEJSOE · pith_short_8: PLDANIGS

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/PLDANIGSPNGEJSOECIAP6ISADW \
  | 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: 7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "57a583bd6422c5a7f539aff76ecc1ac00d36b2802723a46fe1e99229b3366982",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-08T08:47:06Z",
    "title_canon_sha256": "b0796bf8e177079e1c9e107aebdef76a4b8c097ead80d9c30a13d9f53bcaaf40"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.02589",
    "kind": "arxiv",
    "version": 2
  }
}