Pith Number

pith:Q35YRHH7

pith:2021:Q35YRHH7CVGJAYMJ6A5MINVJCB

not attested not anchored not stored refs pending

Learning Based Adaptive Force Control of Robotic Manipulation Based on Real-Time Object Stiffness Detection

Miao Li, Xutian Deng, Zhaoxing Deng

arxiv:2109.06702 v1 · 2021-09-14 · 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{Q35YRHH7CVGJAYMJ6A5MINVJCB}

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	2026-07-05T03:14:29.423895Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

86fb889cff154c906189f03ac436a9105f90fe555625cba140428da5c132bdd6

Aliases

arxiv: 2109.06702 · arxiv_version: 2109.06702v1 · doi: 10.48550/arxiv.2109.06702 · pith_short_12: Q35YRHH7CVGJ · pith_short_16: Q35YRHH7CVGJAYMJ · pith_short_8: Q35YRHH7

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/Q35YRHH7CVGJAYMJ6A5MINVJCB \
  | 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: 86fb889cff154c906189f03ac436a9105f90fe555625cba140428da5c132bdd6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "953ee5434d910fdea03f16ba669d81e766f0024aba40e1b1bf0da631bbd77392",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-14T14:08:20Z",
    "title_canon_sha256": "04ec70d732ea60beec7531192c29f751edee7934388c85de33f8a018c5e28151"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.06702",
    "kind": "arxiv",
    "version": 1
  }
}